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<div class="title">pcl_visualizer.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_PCL_VISUALIZER_IMPL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_PCL_VISUALIZER_IMPL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;vtkVersion.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;vtkSmartPointer.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;vtkCellArray.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;vtkLeaderActor2D.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;vtkVectorText.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;vtkAlgorithmOutput.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;vtkFollower.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;vtkMath.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;vtkSphereSource.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;vtkProperty2D.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;vtkDataSetSurfaceFilter.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;vtkPointData.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;vtkPolyDataMapper.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;vtkProperty.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;vtkMapper.h&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;vtkCellData.h&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &lt;vtkDataSetMapper.h&gt;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#include &lt;vtkRenderer.h&gt;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#include &lt;vtkRendererCollection.h&gt;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#include &lt;vtkAppendPolyData.h&gt;</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#include &lt;vtkTextProperty.h&gt;</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#include &lt;vtkLODActor.h&gt;</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#include &lt;vtkLineSource.h&gt;</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="shapes_8h.html">pcl/visualization/common/shapes.h</a>&gt;</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">// Support for VTK 7.1 upwards</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="preprocessor">#ifdef vtkGenericDataArray_h</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#define SetTupleValue SetTypedTuple</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">#define InsertNextTupleValue InsertNextTypedTuple</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="preprocessor">#define GetTupleValue GetTypedTuple</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">   76</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">pcl::visualization::PCLVisualizer::addPointCloud</a> (</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;{</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">// Convert the PointCloud to VTK PolyData</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html">PointCloudGeometryHandlerXYZ&lt;PointT&gt;</a> geometry_handler (cloud);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">return</span> (addPointCloud&lt;PointT&gt; (cloud, geometry_handler, <span class="keywordtype">id</span>, viewport));</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a53f0930f4129127b62ae8ef6ee475fc4">   87</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">pcl::visualization::PCLVisualizer::addPointCloud</a> (</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler&lt;PointT&gt;</a> &amp;geometry_handler,</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;{</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addPointCloud] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordflow">if</span> (pcl::traits::has_color&lt;PointT&gt;())</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html">PointCloudColorHandlerRGBField&lt;PointT&gt;</a> color_handler_rgb_field (cloud);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">return</span> (fromHandlersToScreen (geometry_handler, color_handler_rgb_field, <span class="keywordtype">id</span>, viewport, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>));</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_custom.html">PointCloudColorHandlerCustom&lt;PointT&gt;</a> color_handler (cloud, 255, 255, 255);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">return</span> (fromHandlersToScreen (geometry_handler, color_handler, <span class="keywordtype">id</span>, viewport, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>));</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;}</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#adce8843ff8c96da48a1d17b60d3d7368">  109</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">pcl::visualization::PCLVisualizer::addPointCloud</a> (</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keyword">const</span> GeometryHandlerConstPtr &amp;geometry_handler,</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="comment">// Here we&#39;re just pushing the handlers onto the queue. If needed, something fancier could</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="comment">// be done such as checking if a specific handler already exists, etc.</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    CloudActorMap::iterator am_it = cloud_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    am_it-&gt;second.geometry_handlers.push_back (geometry_handler);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="comment">//PointCloudColorHandlerRandom&lt;PointT&gt; color_handler (cloud);</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_custom.html">PointCloudColorHandlerCustom&lt;PointT&gt;</a> color_handler (cloud, 255, 255, 255);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">return</span> (fromHandlersToScreen (geometry_handler, color_handler, <span class="keywordtype">id</span>, viewport, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>));</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a0a707d3e533de111299795028de90d94">  130</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">pcl::visualization::PCLVisualizer::addPointCloud</a> (</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler&lt;PointT&gt;</a> &amp;color_handler,</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;{</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addPointCloud] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="comment">// Here we&#39;re just pushing the handlers onto the queue. If needed, something fancier could</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="comment">// be done such as checking if a specific handler already exists, etc.</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="comment">//cloud_actor_map_[id].color_handlers.push_back (color_handler);</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="comment">//style_-&gt;setCloudActorMap (boost::make_shared&lt;CloudActorMap&gt; (cloud_actor_map_));</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">// Convert the PointCloud to VTK PolyData</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html">PointCloudGeometryHandlerXYZ&lt;PointT&gt;</a> geometry_handler (cloud);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keywordflow">return</span> (fromHandlersToScreen (geometry_handler, color_handler, <span class="keywordtype">id</span>, viewport, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>));</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#adf65acb9b139891f75a0eb5752af2c41">  152</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">pcl::visualization::PCLVisualizer::addPointCloud</a> (</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keyword">const</span> ColorHandlerConstPtr &amp;color_handler,</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;{</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="comment">// Check to see if this entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  CloudActorMap::iterator am_it = cloud_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordflow">if</span> (am_it != cloud_actor_map_-&gt;end ())</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  {</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="comment">// Here we&#39;re just pushing the handlers onto the queue. If needed, something fancier could</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="comment">// be done such as checking if a specific handler already exists, etc.</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    am_it-&gt;second.color_handlers.push_back (color_handler);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html">PointCloudGeometryHandlerXYZ&lt;PointT&gt;</a> geometry_handler (cloud);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="keywordflow">return</span> (fromHandlersToScreen (geometry_handler, color_handler, <span class="keywordtype">id</span>, viewport, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>));</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;}</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a2e33d443abe811c5d412972c0425f244">  173</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">pcl::visualization::PCLVisualizer::addPointCloud</a> (</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keyword">const</span> GeometryHandlerConstPtr &amp;geometry_handler,</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keyword">const</span> ColorHandlerConstPtr &amp;color_handler,</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;{</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="comment">// Check to see if this entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  CloudActorMap::iterator am_it = cloud_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="keywordflow">if</span> (am_it != cloud_actor_map_-&gt;end ())</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="comment">// Here we&#39;re just pushing the handlers onto the queue. If needed, something fancier could</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="comment">// be done such as checking if a specific handler already exists, etc.</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    am_it-&gt;second.geometry_handlers.push_back (geometry_handler);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    am_it-&gt;second.color_handlers.push_back (color_handler);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordflow">return</span> (fromHandlersToScreen (geometry_handler, color_handler, <span class="keywordtype">id</span>, viewport, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>));</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;}</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a889c9f81b6637fa34dd3c3b2bd9b95e1">  194</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">pcl::visualization::PCLVisualizer::addPointCloud</a> (</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler&lt;PointT&gt;</a> &amp;color_handler,</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler&lt;PointT&gt;</a> &amp;geometry_handler,</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;{</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addPointCloud] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="comment">// Here we&#39;re just pushing the handlers onto the queue. If needed, something fancier could</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="comment">// be done such as checking if a specific handler already exists, etc.</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="comment">//cloud_actor_map_[id].geometry_handlers.push_back (geometry_handler);</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="comment">//cloud_actor_map_[id].color_handlers.push_back (color_handler);</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="comment">//style_-&gt;setCloudActorMap (boost::make_shared&lt;CloudActorMap&gt; (cloud_actor_map_));</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordflow">return</span> (fromHandlersToScreen (geometry_handler, color_handler, <span class="keywordtype">id</span>, viewport, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>));</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;}</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a596ed7f68d3a48b0c16ff0e3141e2a59">  215</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a596ed7f68d3a48b0c16ff0e3141e2a59">pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData</a> (</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> &amp;polydata,</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkIdTypeArray&gt;</a> &amp;initcells)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;{</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;</a> vertices;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordflow">if</span> (!polydata)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    allocVtkPolyData (polydata);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    vertices = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;::New</a> ();</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    polydata-&gt;SetVerts (vertices);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="comment">// Create the supporting structures</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  vertices = polydata-&gt;GetVerts ();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keywordflow">if</span> (!vertices)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    vertices = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;::New</a> ();</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  vtkIdType nr_points = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="comment">// Create the point set</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> points = polydata-&gt;GetPoints ();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordflow">if</span> (!points)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;::New</a> ();</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    points-&gt;SetDataTypeToFloat ();</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    polydata-&gt;SetPoints (points);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  points-&gt;SetNumberOfPoints (nr_points);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="comment">// Get a pointer to the beginning of the data array</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keywordtype">float</span> *data = (<span class="keyword">static_cast&lt;</span>vtkFloatArray*<span class="keyword">&gt;</span> (points-&gt;GetData ()))-&gt;GetPointer (0);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="comment">// Set the points</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="keywordflow">if</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      memcpy (&amp;data[i * 3], &amp;cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, 12);    <span class="comment">// sizeof (float) * 3</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    vtkIdType j = 0;    <span class="comment">// true point index</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x) ||</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          !pcl_isfinite (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y) ||</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          !pcl_isfinite (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z))</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      memcpy (&amp;data[j * 3], &amp;cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, 12);    <span class="comment">// sizeof (float) * 3</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      j++;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    nr_points = j;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    points-&gt;SetNumberOfPoints (nr_points);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkIdTypeArray&gt;</a> cells = vertices-&gt;GetData ();</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  updateCells (cells, initcells, nr_points);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="comment">// Set the cells and the vertices</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  vertices-&gt;SetCells (nr_points, cells);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;}</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a0b617a4ed966632827fe853d6904996a">  280</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a596ed7f68d3a48b0c16ff0e3141e2a59">pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData</a> (</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">pcl::visualization::PointCloudGeometryHandler&lt;PointT&gt;</a> &amp;geometry_handler,</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> &amp;polydata,</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkIdTypeArray&gt;</a> &amp;initcells)</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;{</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;</a> vertices;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <span class="keywordflow">if</span> (!polydata)</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  {</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    allocVtkPolyData (polydata);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    vertices = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;::New</a> ();</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    polydata-&gt;SetVerts (vertices);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  }</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="comment">// Use the handler to obtain the geometry</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> points;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  geometry_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aae103bd083273e1826b51743e6ae8123">getGeometry</a> (points);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  polydata-&gt;SetPoints (points);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  vtkIdType nr_points = points-&gt;GetNumberOfPoints ();</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="comment">// Create the supporting structures</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  vertices = polydata-&gt;GetVerts ();</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  <span class="keywordflow">if</span> (!vertices)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    vertices = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;::New</a> ();</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkIdTypeArray&gt;</a> cells = vertices-&gt;GetData ();</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  updateCells (cells, initcells, nr_points);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="comment">// Set the cells and the vertices</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  vertices-&gt;SetCells (nr_points, cells);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;}</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a53bdfc5812684721a5f47ff7da42f5c8">  313</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a53bdfc5812684721a5f47ff7da42f5c8">pcl::visualization::PCLVisualizer::addPolygon</a> (</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b, <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;{</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> data = createPolygon&lt;PointT&gt; (cloud);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="keywordflow">if</span> (!data)</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  ShapeActorMap::iterator am_it = shape_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="keywordflow">if</span> (am_it != shape_actor_map_-&gt;end ())</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  {</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkAppendPolyData&gt;</a> all_data = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkAppendPolyData&gt;::New</a> ();</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="comment">// Add old data</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    all_data-&gt;AddInput (<span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span> ((vtkActor::SafeDownCast (am_it-&gt;second))-&gt;GetMapper ())-&gt;GetInput ());</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    all_data-&gt;AddInputData (<span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span> ((vtkActor::SafeDownCast (am_it-&gt;second))-&gt;GetMapper ())-&gt;GetInput ());</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="comment">// Add new data</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSetSurfaceFilter&gt;</a> surface_filter = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSetSurfaceFilter&gt;::New</a> ();</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    surface_filter-&gt;AddInput (vtkUnstructuredGrid::SafeDownCast (data));</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    surface_filter-&gt;AddInputData (vtkUnstructuredGrid::SafeDownCast (data));</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> poly_data = surface_filter-&gt;GetOutput ();</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    all_data-&gt;AddInput (poly_data);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    all_data-&gt;AddInputData (poly_data);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkActor&gt;</a> actor;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    createActorFromVTKDataSet (all_data-&gt;GetOutput (), actor);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    actor-&gt;GetProperty ()-&gt;SetRepresentationToWireframe ();</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    actor-&gt;GetProperty ()-&gt;SetColor (r, g, b);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    actor-&gt;GetMapper ()-&gt;ScalarVisibilityOff ();</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    removeActorFromRenderer (am_it-&gt;second, viewport);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    (*shape_actor_map_)[id] = actor;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  }</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkActor&gt;</a> actor;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    createActorFromVTKDataSet (data, actor);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    actor-&gt;GetProperty ()-&gt;SetRepresentationToWireframe ();</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    actor-&gt;GetProperty ()-&gt;SetColor (r, g, b);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    actor-&gt;GetMapper ()-&gt;ScalarVisibilityOff ();</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    (*shape_actor_map_)[id] = actor;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  }</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;}</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a34eb31933462ec68c91adf216aecdd57">  379</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a53bdfc5812684721a5f47ff7da42f5c8">pcl::visualization::PCLVisualizer::addPolygon</a> (</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_planar_polygon.html">pcl::PlanarPolygon&lt;PointT&gt;</a> &amp;polygon,</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b, <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;{</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> data = createPolygon&lt;PointT&gt; (polygon);</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="keywordflow">if</span> (!data)</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  ShapeActorMap::iterator am_it = shape_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <span class="keywordflow">if</span> (am_it != shape_actor_map_-&gt;end ())</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  {</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkAppendPolyData&gt;</a> all_data = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkAppendPolyData&gt;::New</a> ();</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    <span class="comment">// Add old data</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    all_data-&gt;AddInput (<span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span> ((vtkActor::SafeDownCast (am_it-&gt;second))-&gt;GetMapper ())-&gt;GetInput ());</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    all_data-&gt;AddInputData (<span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span> ((vtkActor::SafeDownCast (am_it-&gt;second))-&gt;GetMapper ())-&gt;GetInput ());</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    <span class="comment">// Add new data</span></div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSetSurfaceFilter&gt;</a> surface_filter = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSetSurfaceFilter&gt;::New</a> ();</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    surface_filter-&gt;SetInput (vtkUnstructuredGrid::SafeDownCast (data));</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    surface_filter-&gt;SetInputData (vtkUnstructuredGrid::SafeDownCast (data));</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> poly_data = surface_filter-&gt;GetOutput ();</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    all_data-&gt;AddInput (poly_data);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    all_data-&gt;AddInputData (poly_data);</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkActor&gt;</a> actor;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    createActorFromVTKDataSet (all_data-&gt;GetOutput (), actor);</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    actor-&gt;GetProperty ()-&gt;SetRepresentationToWireframe ();</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    actor-&gt;GetProperty ()-&gt;SetColor (r, g, b);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    actor-&gt;GetMapper ()-&gt;ScalarVisibilityOn ();</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    actor-&gt;GetProperty ()-&gt;BackfaceCullingOff ();</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    removeActorFromRenderer (am_it-&gt;second, viewport);</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    (*shape_actor_map_)[id] = actor;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  }</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  {</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkActor&gt;</a> actor;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    createActorFromVTKDataSet (data, actor);</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    actor-&gt;GetProperty ()-&gt;SetRepresentationToWireframe ();</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    actor-&gt;GetProperty ()-&gt;SetColor (r, g, b);</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    actor-&gt;GetMapper ()-&gt;ScalarVisibilityOn ();</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    actor-&gt;GetProperty ()-&gt;BackfaceCullingOff ();</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    (*shape_actor_map_)[id] = actor;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  }</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;}</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00446"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a05dd41c59b8323e9b5153aab7c45e1d4">  446</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a53bdfc5812684721a5f47ff7da42f5c8">pcl::visualization::PCLVisualizer::addPolygon</a> (</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;{</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="keywordflow">return</span> (!addPolygon&lt;PointT&gt; (cloud, 0.5, 0.5, 0.5, <span class="keywordtype">id</span>, viewport));</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;}</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> P1, <span class="keyword">typename</span> P2&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a10864bcc375cad47986a3601fbcd2e51">  455</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aa788c98f62fbf379abfc3b03550ecab5">pcl::visualization::PCLVisualizer::addLine</a> (<span class="keyword">const</span> P1 &amp;pt1, <span class="keyword">const</span> P2 &amp;pt2, <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b, <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;{</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  {</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addLine] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  }</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> data = <a class="code" href="shapes_8h.html#abb746d0348192ce0950dc7adf19052f4">createLine</a> (pt1.getVector4fMap (), pt2.getVector4fMap ());</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  createActorFromVTKDataSet (data, actor);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;  actor-&gt;GetProperty ()-&gt;SetRepresentationToWireframe ();</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  actor-&gt;GetProperty ()-&gt;SetColor (r, g, b);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  actor-&gt;GetMapper ()-&gt;ScalarVisibilityOff ();</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;  addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  (*shape_actor_map_)[id] = actor;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;}</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> P1, <span class="keyword">typename</span> P2&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00480"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a90e704438b073458d7b1d6ebe54a9c2d">  480</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a90e704438b073458d7b1d6ebe54a9c2d">pcl::visualization::PCLVisualizer::addArrow</a> (<span class="keyword">const</span> P1 &amp;pt1, <span class="keyword">const</span> P2 &amp;pt2, <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b, <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;{</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;  {</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addArrow] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  }</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;  <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLeaderActor2D&gt;</a> leader = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLeaderActor2D&gt;::New</a> ();</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  leader-&gt;GetPositionCoordinate ()-&gt;SetCoordinateSystemToWorld ();</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;  leader-&gt;GetPositionCoordinate ()-&gt;SetValue (pt1.x, pt1.y, pt1.z);</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  leader-&gt;GetPosition2Coordinate ()-&gt;SetCoordinateSystemToWorld ();</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  leader-&gt;GetPosition2Coordinate ()-&gt;SetValue (pt2.x, pt2.y, pt2.z);</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  leader-&gt;SetArrowStyleToFilled ();</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  leader-&gt;AutoLabelOn ();</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  leader-&gt;GetProperty ()-&gt;SetColor (r, g, b);</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  addActorToRenderer (leader, viewport);</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  (*shape_actor_map_)[id] = leader;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;}</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160; </div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> P1, <span class="keyword">typename</span> P2&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00507"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aba95dcf30c94ce32d4ba3f70abb0983a">  507</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a90e704438b073458d7b1d6ebe54a9c2d">pcl::visualization::PCLVisualizer::addArrow</a> (<span class="keyword">const</span> P1 &amp;pt1, <span class="keyword">const</span> P2 &amp;pt2, <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b, <span class="keywordtype">bool</span> display_length, <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;{</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  {</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addArrow] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  }</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLeaderActor2D&gt;</a> leader = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLeaderActor2D&gt;::New</a> ();</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  leader-&gt;GetPositionCoordinate ()-&gt;SetCoordinateSystemToWorld ();</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  leader-&gt;GetPositionCoordinate ()-&gt;SetValue (pt1.x, pt1.y, pt1.z);</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  leader-&gt;GetPosition2Coordinate ()-&gt;SetCoordinateSystemToWorld ();</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  leader-&gt;GetPosition2Coordinate ()-&gt;SetValue (pt2.x, pt2.y, pt2.z);</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  leader-&gt;SetArrowStyleToFilled ();</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;  leader-&gt;SetArrowPlacementToPoint1 ();</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  <span class="keywordflow">if</span> (display_length)</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;    leader-&gt;AutoLabelOn ();</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    leader-&gt;AutoLabelOff ();</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  leader-&gt;GetProperty ()-&gt;SetColor (r, g, b);</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  addActorToRenderer (leader, viewport);</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160; </div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;  (*shape_actor_map_)[id] = leader;</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;}</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> P1, <span class="keyword">typename</span> P2&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00537"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a260af85c66b36018c12cc56fe6aae8c2">  537</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a90e704438b073458d7b1d6ebe54a9c2d">pcl::visualization::PCLVisualizer::addArrow</a> (<span class="keyword">const</span> P1 &amp;pt1, <span class="keyword">const</span> P2 &amp;pt2,</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;                                            <span class="keywordtype">double</span> r_line, <span class="keywordtype">double</span> g_line, <span class="keywordtype">double</span> b_line,</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;                                            <span class="keywordtype">double</span> r_text, <span class="keywordtype">double</span> g_text, <span class="keywordtype">double</span> b_text,</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;                                            <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;{</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  {</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addArrow] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;  }</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160; </div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLeaderActor2D&gt;</a> leader = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLeaderActor2D&gt;::New</a> ();</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;  leader-&gt;GetPositionCoordinate ()-&gt;SetCoordinateSystemToWorld ();</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  leader-&gt;GetPositionCoordinate ()-&gt;SetValue (pt1.x, pt1.y, pt1.z);</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  leader-&gt;GetPosition2Coordinate ()-&gt;SetCoordinateSystemToWorld ();</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;  leader-&gt;GetPosition2Coordinate ()-&gt;SetValue (pt2.x, pt2.y, pt2.z);</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;  leader-&gt;SetArrowStyleToFilled ();</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;  leader-&gt;AutoLabelOn ();</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160; </div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;  leader-&gt;GetLabelTextProperty()-&gt;SetColor(r_text, g_text, b_text);</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  </div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  leader-&gt;GetProperty ()-&gt;SetColor (r_line, g_line, b_line);</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  addActorToRenderer (leader, viewport);</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  (*shape_actor_map_)[id] = leader;</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;}</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160; </div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> P1, <span class="keyword">typename</span> P2&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00569"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aa788c98f62fbf379abfc3b03550ecab5">  569</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aa788c98f62fbf379abfc3b03550ecab5">pcl::visualization::PCLVisualizer::addLine</a> (<span class="keyword">const</span> P1 &amp;pt1, <span class="keyword">const</span> P2 &amp;pt2, <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;{</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  <span class="keywordflow">return</span> (!addLine (pt1, pt2, 0.5, 0.5, 0.5, <span class="keywordtype">id</span>, viewport));</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;}</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160; </div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00576"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#ac8ad46c3a2adb617ffe20f3f3351dcde">  576</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a19fb5e883c70c32e1486e924469217f3">pcl::visualization::PCLVisualizer::addSphere</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;center, <span class="keywordtype">double</span> radius, <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b, <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;{</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  {</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addSphere] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  }</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160; </div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkSphereSource&gt;</a> data = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkSphereSource&gt;::New</a> ();</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  data-&gt;SetRadius (radius);</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;  data-&gt;SetCenter (<span class="keywordtype">double</span> (center.x), double (center.y), double (center.z));</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  data-&gt;SetPhiResolution (10);</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  data-&gt;SetThetaResolution (10);</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  data-&gt;LatLongTessellationOff ();</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;  data-&gt;Update ();</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160; </div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  <span class="comment">// Setup actor and mapper </span></div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer &lt;vtkPolyDataMapper&gt;</a> mapper = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyDataMapper&gt;::New</a> ();</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  mapper-&gt;SetInputConnection (data-&gt;GetOutputPort ());</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;::New</a> ();</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  actor-&gt;SetMapper (mapper);</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  <span class="comment">//createActorFromVTKDataSet (data, actor);</span></div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  actor-&gt;GetProperty ()-&gt;SetRepresentationToSurface ();</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  actor-&gt;GetProperty ()-&gt;SetInterpolationToFlat ();</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  actor-&gt;GetProperty ()-&gt;SetColor (r, g, b);</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  actor-&gt;GetMapper ()-&gt;ImmediateModeRenderingOn ();</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  actor-&gt;GetMapper ()-&gt;StaticOn ();</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  actor-&gt;GetMapper ()-&gt;ScalarVisibilityOff ();</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  actor-&gt;GetMapper ()-&gt;Update ();</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;  addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160; </div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  (*shape_actor_map_)[id] = actor;</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;}</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160; </div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00616"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a19fb5e883c70c32e1486e924469217f3">  616</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a19fb5e883c70c32e1486e924469217f3">pcl::visualization::PCLVisualizer::addSphere</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;center, <span class="keywordtype">double</span> radius, <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;{</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  <span class="keywordflow">return</span> (addSphere (center, radius, 0.5, 0.5, 0.5, <span class="keywordtype">id</span>, viewport));</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;}</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160; </div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00623"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a8562fd9611c985f3dfcca9acce8a5050">  623</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a8562fd9611c985f3dfcca9acce8a5050">pcl::visualization::PCLVisualizer::updateSphere</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;center, <span class="keywordtype">double</span> radius, <span class="keywordtype">double</span> r, <span class="keywordtype">double</span> g, <span class="keywordtype">double</span> b, <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>)</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;{</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;  <span class="keywordflow">if</span> (!contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  {</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  }</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160; </div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;  <span class="comment">// Get the actor pointer</span></div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;  ShapeActorMap::iterator am_it = shape_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it-&gt;second);</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;  <span class="keywordflow">if</span> (!actor)</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  vtkAlgorithm *algo = actor-&gt;GetMapper ()-&gt;GetInput ()-&gt;GetProducerPort ()-&gt;GetProducer ();</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;  vtkAlgorithm *algo = actor-&gt;GetMapper ()-&gt;GetInputAlgorithm ();</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;  vtkSphereSource *src = vtkSphereSource::SafeDownCast (algo);</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;  <span class="keywordflow">if</span> (!src)</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160; </div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;  src-&gt;SetCenter (<span class="keywordtype">double</span> (center.x), double (center.y), double (center.z));</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;  src-&gt;SetRadius (radius);</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;  src-&gt;Update ();</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;  actor-&gt;GetProperty ()-&gt;SetColor (r, g, b);</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;  actor-&gt;Modified ();</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160; </div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;}</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160; </div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00656"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a81eef75fbd6f48f851c5847b75e1f59c">  656</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a81eef75fbd6f48f851c5847b75e1f59c">pcl::visualization::PCLVisualizer::addText3D</a> (</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;  <span class="keyword">const</span> std::string &amp;text,</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; position,</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;  <span class="keywordtype">double</span> textScale,</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;  <span class="keywordtype">double</span> r,</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  <span class="keywordtype">double</span> g,</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  <span class="keywordtype">double</span> b,</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>,</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;  <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;{</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  std::string tid;</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  <span class="keywordflow">if</span> (<span class="keywordtype">id</span>.empty ())</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    tid = text;</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    tid = id;</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160; </div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;  <span class="keywordflow">if</span> (contains (tid))</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;  {</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addText3D] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;  }</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160; </div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkVectorText&gt;</a> textSource = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkVectorText&gt;::New</a> ();</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;  textSource-&gt;SetText (text.c_str());</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;  textSource-&gt;Update ();</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160; </div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyDataMapper&gt;</a> textMapper = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyDataMapper&gt;::New</a> ();</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;  textMapper-&gt;SetInputConnection (textSource-&gt;GetOutputPort ());</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160; </div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;  <span class="comment">// Since each follower may follow a different camera, we need different followers</span></div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;  rens_-&gt;InitTraversal ();</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;  vtkRenderer* renderer = NULL;</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;  <span class="keywordtype">int</span> i = 0;</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;  <span class="keywordflow">while</span> ((renderer = rens_-&gt;GetNextItem ()) != NULL)</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;  {</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    <span class="comment">// Should we add the actor to all renderers or just to i-nth renderer?</span></div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    <span class="keywordflow">if</span> (viewport == 0 || viewport == i)</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;    {</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;      <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFollower&gt;</a> textActor = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFollower&gt;::New</a> ();</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;      textActor-&gt;SetMapper (textMapper);</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;      textActor-&gt;SetPosition (position.x, position.y, position.z);</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;      textActor-&gt;SetScale (textScale);</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;      textActor-&gt;GetProperty ()-&gt;SetColor (r, g, b);</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;      textActor-&gt;SetCamera (renderer-&gt;GetActiveCamera ());</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160; </div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;      renderer-&gt;AddActor (textActor);</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;      renderer-&gt;Render ();</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160; </div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;      <span class="comment">// Save the pointer/ID pair to the global actor map. If we are saving multiple vtkFollowers</span></div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;      <span class="comment">// for multiple viewport</span></div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;      std::string alternate_tid = tid;</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;      alternate_tid.append(i, <span class="charliteral">&#39;*&#39;</span>);</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160; </div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;      (*shape_actor_map_)[(viewport == 0) ? tid : alternate_tid] = textActor;</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;    }</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160; </div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;    ++i;</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;  }</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160; </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;}</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160; </div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00720"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a7b40078a75aba7f01826013ee27e4484">  720</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a7b40078a75aba7f01826013ee27e4484">pcl::visualization::PCLVisualizer::addPointCloudNormals</a> (</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointNT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;  <span class="keywordtype">int</span> level, <span class="keywordtype">float</span> scale, <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;{</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;  <span class="keywordflow">return</span> (addPointCloudNormals&lt;PointNT, PointNT&gt; (cloud, cloud, level, scale, <span class="keywordtype">id</span>, viewport));</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;}</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160; </div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00729"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a013791b58208b7baba403f5a1cdcb9a2">  729</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a7b40078a75aba7f01826013ee27e4484">pcl::visualization::PCLVisualizer::addPointCloudNormals</a> (</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointNT&gt;::ConstPtr &amp;normals,</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;  <span class="keywordtype">int</span> level, <span class="keywordtype">float</span> scale,</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;{</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  <span class="keywordflow">if</span> (normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;  {</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[addPointCloudNormals] The number of points differs from the number of normals!\n&quot;</span>);</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  }</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;  {</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addPointCloudNormals] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;  }</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160; </div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;::New</a>();</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;</a> lines = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;::New</a>();</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160; </div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;  points-&gt;SetDataTypeToFloat ();</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;</a> data = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;::New</a> ();</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;  data-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160; </div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160; </div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  vtkIdType nr_normals = 0;</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;  <span class="keywordtype">float</span>* pts = 0;</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160; </div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  <span class="comment">// If the cloud is organized, then distribute the normal step in both directions</span></div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  <span class="keywordflow">if</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> () &amp;&amp; normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> ())</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;  {</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;    vtkIdType point_step = <span class="keyword">static_cast&lt;</span>vtkIdType<span class="keyword">&gt;</span> (sqrt (<span class="keywordtype">double</span> (level)));</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;    nr_normals = (<span class="keyword">static_cast&lt;</span>vtkIdType<span class="keyword">&gt;</span> ((cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> - 1)/ point_step) + 1) *</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;                 (<span class="keyword">static_cast&lt;</span>vtkIdType<span class="keyword">&gt;</span> ((cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> - 1) / point_step) + 1);</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;    pts = <span class="keyword">new</span> <span class="keywordtype">float</span>[2 * nr_normals * 3];</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160; </div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;    vtkIdType cell_count = 0;</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;    <span class="keywordflow">for</span> (vtkIdType y = 0; y &lt; normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>; y += point_step)</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;      <span class="keywordflow">for</span> (vtkIdType x = 0; x &lt; normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>; x += point_step)</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;      {</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p = (*cloud)(x, y);</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;        p.x += (*normals)(x, y).normal[0] * scale;</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;        p.y += (*normals)(x, y).normal[1] * scale;</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;        p.z += (*normals)(x, y).normal[2] * scale;</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160; </div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;        pts[2 * cell_count * 3 + 0] = (*cloud)(x, y).x;</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;        pts[2 * cell_count * 3 + 1] = (*cloud)(x, y).y;</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;        pts[2 * cell_count * 3 + 2] = (*cloud)(x, y).z;</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;        pts[2 * cell_count * 3 + 3] = p.x;</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;        pts[2 * cell_count * 3 + 4] = p.y;</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;        pts[2 * cell_count * 3 + 5] = p.z;</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160; </div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;        lines-&gt;InsertNextCell (2);</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;        lines-&gt;InsertCellPoint (2 * cell_count);</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;        lines-&gt;InsertCellPoint (2 * cell_count + 1);</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;        cell_count ++;</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;    }</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;  }</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;  {</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;    nr_normals = (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () - 1) / level + 1 ;</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;    pts = <span class="keyword">new</span> <span class="keywordtype">float</span>[2 * nr_normals * 3];</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160; </div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0, j = 0; j &lt; nr_normals; j++, i = j * level)</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;    {</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;      p.x += normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal[0] * scale;</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;      p.y += normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal[1] * scale;</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;      p.z += normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal[2] * scale;</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160; </div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;      pts[2 * j * 3 + 0] = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x;</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;      pts[2 * j * 3 + 1] = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y;</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;      pts[2 * j * 3 + 2] = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z;</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;      pts[2 * j * 3 + 3] = p.x;</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;      pts[2 * j * 3 + 4] = p.y;</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;      pts[2 * j * 3 + 5] = p.z;</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160; </div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;      lines-&gt;InsertNextCell (2);</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;      lines-&gt;InsertCellPoint (2 * j);</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;      lines-&gt;InsertCellPoint (2 * j + 1);</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;    }</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;  }</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160; </div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;  data-&gt;SetArray (&amp;pts[0], 2 * nr_normals * 3, 0, vtkFloatArray::VTK_DATA_ARRAY_DELETE);</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;  points-&gt;SetData (data);</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160; </div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polyData = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;::New</a>();</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;  polyData-&gt;SetPoints (points);</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;  polyData-&gt;SetLines (lines);</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160; </div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSetMapper&gt;</a> mapper = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSetMapper&gt;::New</a> ();</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;  mapper-&gt;SetInput (polyData);</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;  mapper-&gt;SetInputData (polyData);</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;  mapper-&gt;SetColorModeToMapScalars();</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;  mapper-&gt;SetScalarModeToUsePointData();</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160; </div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;  <span class="comment">// create actor</span></div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;::New</a> ();</div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;  actor-&gt;SetMapper (mapper);</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160; </div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;  <span class="comment">// Use cloud view point info</span></div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkMatrix4x4&gt;</a> transformation = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkMatrix4x4&gt;::New</a> ();</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;  convertToVtkMatrix (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>, transformation);</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;  actor-&gt;SetUserMatrix (transformation);</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160; </div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;  <span class="comment">// Add it to all renderers</span></div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;  addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160; </div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;  (*cloud_actor_map_)[id].actor = actor;</div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;}</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160; </div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aaa72b633862a7de6a882a9903796a2a0">pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures</a> (</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointNT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;  <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PrincipalCurvatures&gt;::ConstPtr &amp;pcs,</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;  <span class="keywordtype">int</span> level, <span class="keywordtype">float</span> scale,</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;{</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;  <span class="keywordflow">return</span> (addPointCloudPrincipalCurvatures&lt;PointNT, PointNT&gt; (cloud, cloud, pcs, level, scale, <span class="keywordtype">id</span>, viewport));</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;}</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160; </div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00858"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a90f2d88ed2f9c57bc716c6b1abd4dab3">  858</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aaa72b633862a7de6a882a9903796a2a0">pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures</a> (</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointNT&gt;::ConstPtr &amp;normals,</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;  <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PrincipalCurvatures&gt;::ConstPtr &amp;pcs,</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;  <span class="keywordtype">int</span> level, <span class="keywordtype">float</span> scale,</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;{</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;  <span class="keywordflow">if</span> (pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () || normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;  {</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;    pcl::console::print_error (<span class="stringliteral">&quot;[addPointCloudPrincipalCurvatures] The number of points differs from the number of principal curvatures/normals!\n&quot;</span>);</div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;  }</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160; </div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;  {</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addPointCloudPrincipalCurvatures] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;  }</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160; </div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkAppendPolyData&gt;</a> polydata_1 = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkAppendPolyData&gt;::New</a> ();</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkAppendPolyData&gt;</a> polydata_2 = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkAppendPolyData&gt;::New</a> ();</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160; </div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;  <span class="comment">// Setup two colors - one for each line</span></div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> green[3] = {0, 255, 0};</div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> blue[3] = {0, 0, 255};</div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160; </div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;  <span class="comment">// Setup the colors array</span></div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;</a> line_1_colors =<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;  line_1_colors-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;  line_1_colors-&gt;SetName (<span class="stringliteral">&quot;Colors&quot;</span>);</div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;</a> line_2_colors =<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;  line_2_colors-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;  line_2_colors-&gt;SetName (<span class="stringliteral">&quot;Colors&quot;</span>);</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160; </div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;  <span class="comment">// Create the first sets of lines</span></div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i+=level)</div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;  {</div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;    p.x += (pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].pc1 * pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].principal_curvature[0]) * scale;</div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;    p.y += (pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].pc1 * pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].principal_curvature[1]) * scale;</div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;    p.z += (pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].pc1 * pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].principal_curvature[2]) * scale;</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160; </div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLineSource&gt;</a> line_1 = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLineSource&gt;::New</a> ();</div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;    line_1-&gt;SetPoint1 (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z);</div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;    line_1-&gt;SetPoint2 (p.x, p.y, p.z);</div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;    line_1-&gt;Update ();</div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;    polydata_1-&gt;AddInput (line_1-&gt;GetOutput ());</div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;    polydata_1-&gt;AddInputData (line_1-&gt;GetOutput ());</div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;    line_1_colors-&gt;InsertNextTupleValue (green);</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;  }</div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;  polydata_1-&gt;Update ();</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> line_1_data = polydata_1-&gt;GetOutput ();</div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;  line_1_data-&gt;GetCellData ()-&gt;SetScalars (line_1_colors);</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160; </div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;  <span class="comment">// Create the second sets of lines</span></div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i += level)</div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;  {</div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;    Eigen::Vector3f pc (pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].principal_curvature[0],</div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;                        pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].principal_curvature[1],</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;                        pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].principal_curvature[2]);</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;    Eigen::Vector3f normal (normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal[0],</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;                            normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal[1],</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;                            normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal[2]);</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;    Eigen::Vector3f pc_c = pc.cross (normal);</div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160; </div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;    p.x += (pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].pc2 * pc_c[0]) * scale;</div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;    p.y += (pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].pc2 * pc_c[1]) * scale;</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;    p.z += (pcs-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].pc2 * pc_c[2]) * scale;</div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160; </div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLineSource&gt;</a> line_2 = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLineSource&gt;::New</a> ();</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;    line_2-&gt;SetPoint1 (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z);</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;    line_2-&gt;SetPoint2 (p.x, p.y, p.z);</div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;    line_2-&gt;Update ();</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;    polydata_2-&gt;AddInput (line_2-&gt;GetOutput ());</div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;    polydata_2-&gt;AddInputData (line_2-&gt;GetOutput ());</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160; </div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;    line_2_colors-&gt;InsertNextTupleValue (blue);</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;  }</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;  polydata_2-&gt;Update ();</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> line_2_data = polydata_2-&gt;GetOutput ();</div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;  line_2_data-&gt;GetCellData ()-&gt;SetScalars (line_2_colors);</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160; </div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;  <span class="comment">// Assemble the two sets of lines</span></div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkAppendPolyData&gt;</a> alldata = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkAppendPolyData&gt;::New</a> ();</div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;  alldata-&gt;AddInput (line_1_data);</div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;  alldata-&gt;AddInput (line_2_data);</div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;  alldata-&gt;AddInputData (line_1_data);</div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;  alldata-&gt;AddInputData (line_2_data);</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160; </div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;  <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor;</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;  createActorFromVTKDataSet (alldata-&gt;GetOutput (), actor);</div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;  actor-&gt;GetMapper ()-&gt;SetScalarModeToUseCellData ();</div>
<div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160; </div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;  <span class="comment">// Add it to all renderers</span></div>
<div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;  addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160; </div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html">CloudActor</a> act;</div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;  act.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">actor</a> = actor;</div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;  (*cloud_actor_map_)[id] = act;</div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;}</div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160; </div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> GradientT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00974"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a0051e22d9a1503933842510b3fc31467">  974</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a0051e22d9a1503933842510b3fc31467">pcl::visualization::PCLVisualizer::addPointCloudIntensityGradients</a> (</div>
<div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;GradientT&gt;::ConstPtr &amp;gradients,</div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;    <span class="keywordtype">int</span> level, <span class="keywordtype">double</span> scale,</div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;    <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>, <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;{</div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;  <span class="keywordflow">if</span> (gradients-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;  {</div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[addPointCloudGradients] The number of points differs from the number of gradients!\n&quot;</span>);</div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;  }</div>
<div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160;  {</div>
<div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addPointCloudGradients] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;  }</div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160; </div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;::New</a>();</div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;</a> lines = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;::New</a>();</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160; </div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;  points-&gt;SetDataTypeToFloat ();</div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;</a> data = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;::New</a> ();</div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;  data-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160; </div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;  vtkIdType nr_gradients = (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () - 1) / level + 1 ;</div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;  <span class="keywordtype">float</span>* pts = <span class="keyword">new</span> <span class="keywordtype">float</span>[2 * nr_gradients * 3];</div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160; </div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;  <span class="keywordflow">for</span> (vtkIdType i = 0, j = 0; j &lt; nr_gradients; j++, i = j * level)</div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;  {</div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;    p.x += gradients-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].gradient[0] * scale;</div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;    p.y += gradients-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].gradient[1] * scale;</div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;    p.z += gradients-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].gradient[2] * scale;</div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160; </div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;    pts[2 * j * 3 + 0] = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x;</div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;    pts[2 * j * 3 + 1] = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y;</div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;    pts[2 * j * 3 + 2] = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z;</div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;    pts[2 * j * 3 + 3] = p.x;</div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;    pts[2 * j * 3 + 4] = p.y;</div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;    pts[2 * j * 3 + 5] = p.z;</div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160; </div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;    lines-&gt;InsertNextCell(2);</div>
<div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;    lines-&gt;InsertCellPoint(2*j);</div>
<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;    lines-&gt;InsertCellPoint(2*j+1);</div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;  }</div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160; </div>
<div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;  data-&gt;SetArray (&amp;pts[0], 2 * nr_gradients * 3, 0, vtkFloatArray::VTK_DATA_ARRAY_DELETE);</div>
<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;  points-&gt;SetData (data);</div>
<div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160; </div>
<div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polyData = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;::New</a>();</div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;  polyData-&gt;SetPoints(points);</div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;  polyData-&gt;SetLines(lines);</div>
<div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160; </div>
<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSetMapper&gt;</a> mapper = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSetMapper&gt;::New</a> ();</div>
<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;  mapper-&gt;SetInput (polyData);</div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;  mapper-&gt;SetInputData (polyData);</div>
<div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;  mapper-&gt;SetColorModeToMapScalars();</div>
<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;  mapper-&gt;SetScalarModeToUsePointData();</div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160; </div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;  <span class="comment">// create actor</span></div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;::New</a> ();</div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;  actor-&gt;SetMapper (mapper);</div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160; </div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;  <span class="comment">// Add it to all renderers</span></div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;  addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160; </div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;  (*cloud_actor_map_)[id].actor = actor;</div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;}</div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160; </div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01050"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a3c20fdb241ea003aff44e9d22c665acc"> 1050</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a3c20fdb241ea003aff44e9d22c665acc">pcl::visualization::PCLVisualizer::addCorrespondences</a> (</div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;source_points,</div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;target_points,</div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;correspondences,</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>,</div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;  <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;{</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;  pcl::Correspondences corrs;</div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;  corrs.resize (correspondences.size ());</div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160; </div>
<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;  <span class="keywordtype">size_t</span> index = 0;</div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;  <span class="keywordflow">for</span> (pcl::Correspondences::iterator corrs_it (corrs.begin ()); corrs_it != corrs.end (); ++corrs_it)</div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;  {</div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;    corrs_it-&gt;index_query = index;</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;    corrs_it-&gt;index_match = correspondences[index];</div>
<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;    index++;</div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;  }</div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160; </div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;  <span class="keywordflow">return</span> (addCorrespondences&lt;PointT&gt; (source_points, target_points, corrs, <span class="keywordtype">id</span>, viewport));</div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;}</div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160; </div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01073"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#af60f2f8c70d8eed2729694771b9e3333"> 1073</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a3c20fdb241ea003aff44e9d22c665acc">pcl::visualization::PCLVisualizer::addCorrespondences</a> (</div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;source_points,</div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;target_points,</div>
<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;  <span class="keyword">const</span> pcl::Correspondences &amp;correspondences,</div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;  <span class="keywordtype">int</span> nth,</div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>,</div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;  <span class="keywordtype">int</span> viewport,</div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;  <span class="keywordtype">bool</span> overwrite)</div>
<div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;{</div>
<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;  <span class="keywordflow">if</span> (correspondences.empty ())</div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;  {</div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[addCorrespondences] An empty set of correspondences given! Nothing to display.\n&quot;</span>);</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;  }</div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160; </div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;  ShapeActorMap::iterator am_it = shape_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;  <span class="keywordflow">if</span> (am_it != shape_actor_map_-&gt;end () &amp;&amp; overwrite == <span class="keyword">false</span>)</div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;  {</div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addCorrespondences] A set of correspondences with id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (am_it == shape_actor_map_-&gt;end () &amp;&amp; overwrite == <span class="keyword">true</span>)</div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;  {</div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;    overwrite = <span class="keyword">false</span>; <span class="comment">// Correspondences doesn&#39;t exist, add them instead of updating them</span></div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;  }</div>
<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160; </div>
<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;  <span class="keywordtype">int</span> n_corr = int (correspondences.size () / nth);</div>
<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> line_data = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;::New</a> ();</div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160; </div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;  <span class="comment">// Prepare colors</span></div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;</a> line_colors = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;  line_colors-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;  line_colors-&gt;SetName (<span class="stringliteral">&quot;Colors&quot;</span>);</div>
<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;  line_colors-&gt;SetNumberOfTuples (n_corr);</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160; </div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;  <span class="comment">// Prepare coordinates</span></div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> line_points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;::New</a> ();</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;  line_points-&gt;SetNumberOfPoints (2 * n_corr);</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160; </div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkIdTypeArray&gt;</a> line_cells_id = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkIdTypeArray&gt;::New</a> ();</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;  line_cells_id-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;  line_cells_id-&gt;SetNumberOfTuples (n_corr);</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;  vtkIdType *line_cell_id = line_cells_id-&gt;GetPointer (0);</div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;</a> line_cells = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;::New</a> ();</div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160; </div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;</a> line_tcoords = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;::New</a> ();</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;  line_tcoords-&gt;SetNumberOfComponents (1);</div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;  line_tcoords-&gt;SetNumberOfTuples (n_corr * 2);</div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;  line_tcoords-&gt;SetName (<span class="stringliteral">&quot;Texture Coordinates&quot;</span>);</div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160; </div>
<div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160;  <span class="keywordtype">double</span> tc[3] = {0.0, 0.0, 0.0};</div>
<div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160; </div>
<div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160;  Eigen::Affine3f source_transformation;</div>
<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160;  source_transformation.linear () = source_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>.matrix ();</div>
<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;  source_transformation.translation () = source_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>.head (3);</div>
<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;  Eigen::Affine3f target_transformation;</div>
<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;  target_transformation.linear () = target_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>.matrix ();</div>
<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;  target_transformation.translation () = target_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>.head (3);</div>
<div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160; </div>
<div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;  <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160;  <span class="comment">// Draw lines between the best corresponding points</span></div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; correspondences.size (); i += nth, ++j)</div>
<div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160;  {</div>
<div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160;    <span class="keywordflow">if</span> (correspondences[i].index_match == -1)</div>
<div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;    {</div>
<div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;[addCorrespondences] No valid index_match for correspondence %d\n&quot;</span>, i);</div>
<div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;    }</div>
<div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>&#160; </div>
<div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p_src (source_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[correspondences[i].index_query]);</div>
<div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p_tgt (target_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[correspondences[i].index_match]);</div>
<div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>&#160; </div>
<div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;    p_src.getVector3fMap () = source_transformation * p_src.getVector3fMap ();</div>
<div class="line"><a name="l01146"></a><span class="lineno"> 1146</span>&#160;    p_tgt.getVector3fMap () = target_transformation * p_tgt.getVector3fMap ();</div>
<div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>&#160; </div>
<div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;    <span class="keywordtype">int</span> id1 = j * 2 + 0, id2 = j * 2 + 1;</div>
<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;    <span class="comment">// Set the points</span></div>
<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;    line_points-&gt;SetPoint (id1, p_src.x, p_src.y, p_src.z);</div>
<div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160;    line_points-&gt;SetPoint (id2, p_tgt.x, p_tgt.y, p_tgt.z);</div>
<div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>&#160;    <span class="comment">// Set the cell ID</span></div>
<div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>&#160;    *line_cell_id++ = 2;</div>
<div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>&#160;    *line_cell_id++ = id1;</div>
<div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160;    *line_cell_id++ = id2;</div>
<div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>&#160;    <span class="comment">// Set the texture coords</span></div>
<div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>&#160;    tc[0] = 0.; line_tcoords-&gt;SetTuple (id1, tc);</div>
<div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>&#160;    tc[0] = 1.; line_tcoords-&gt;SetTuple (id2, tc);</div>
<div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160; </div>
<div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160;    <span class="keywordtype">float</span> rgb[3];</div>
<div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>&#160;    rgb[0] = vtkMath::Random (32, 255); <span class="comment">// min / max</span></div>
<div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160;    rgb[1] = vtkMath::Random (32, 255);</div>
<div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>&#160;    rgb[2] = vtkMath::Random (32, 255);</div>
<div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160;    line_colors-&gt;InsertTuple (i, rgb);</div>
<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;  }</div>
<div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160;  line_colors-&gt;SetNumberOfTuples (j);</div>
<div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;  line_cells_id-&gt;SetNumberOfTuples (j);</div>
<div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;  line_cells-&gt;SetCells (n_corr, line_cells_id);</div>
<div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160;  line_points-&gt;SetNumberOfPoints (j*2);</div>
<div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160;  line_tcoords-&gt;SetNumberOfTuples (j*2);</div>
<div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160; </div>
<div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>&#160;  <span class="comment">// Fill in the lines</span></div>
<div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160;  line_data-&gt;SetPoints (line_points);</div>
<div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160;  line_data-&gt;SetLines (line_cells);</div>
<div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160;  line_data-&gt;GetPointData ()-&gt;SetTCoords (line_tcoords);</div>
<div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160;  line_data-&gt;GetCellData ()-&gt;SetScalars (line_colors);</div>
<div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160; </div>
<div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>&#160;  <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160;  <span class="keywordflow">if</span> (!overwrite)</div>
<div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>&#160;  {</div>
<div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor;</div>
<div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160;    createActorFromVTKDataSet (line_data, actor);</div>
<div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>&#160;    actor-&gt;GetProperty ()-&gt;SetRepresentationToWireframe ();</div>
<div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;    actor-&gt;GetProperty ()-&gt;SetOpacity (0.5);</div>
<div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160;    addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>&#160; </div>
<div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160;    <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>&#160;    (*shape_actor_map_)[id] = actor;</div>
<div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>&#160;  }</div>
<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160;  {</div>
<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor = vtkLODActor::SafeDownCast (am_it-&gt;second);</div>
<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160;    <span class="keywordflow">if</span> (!actor)</div>
<div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160;    <span class="comment">// Update the mapper</span></div>
<div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>&#160;    <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span>(actor-&gt;GetMapper ())-&gt;SetInput (line_data);</div>
<div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>&#160;    <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span> (actor-&gt;GetMapper ())-&gt;SetInputData (line_data);</div>
<div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>&#160;  }</div>
<div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160; </div>
<div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>&#160;}</div>
<div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160; </div>
<div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01208"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#af6522961411e6db8f000279392dfae35"> 1208</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#af6522961411e6db8f000279392dfae35">pcl::visualization::PCLVisualizer::updateCorrespondences</a> (</div>
<div class="line"><a name="l01209"></a><span class="lineno"> 1209</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;source_points,</div>
<div class="line"><a name="l01210"></a><span class="lineno"> 1210</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;target_points,</div>
<div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>&#160;  <span class="keyword">const</span> pcl::Correspondences &amp;correspondences,</div>
<div class="line"><a name="l01212"></a><span class="lineno"> 1212</span>&#160;  <span class="keywordtype">int</span> nth,</div>
<div class="line"><a name="l01213"></a><span class="lineno"> 1213</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>,</div>
<div class="line"><a name="l01214"></a><span class="lineno"> 1214</span>&#160;  <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l01215"></a><span class="lineno"> 1215</span>&#160;{</div>
<div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>&#160;  <span class="keywordflow">return</span> (addCorrespondences&lt;PointT&gt; (source_points, target_points, correspondences, nth, <span class="keywordtype">id</span>, viewport, <span class="keyword">true</span>));</div>
<div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>&#160;}</div>
<div class="line"><a name="l01218"></a><span class="lineno"> 1218</span>&#160; </div>
<div class="line"><a name="l01220"></a><span class="lineno"> 1220</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01221"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a749041b9375495588a3e0406e3afec1f"> 1221</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a749041b9375495588a3e0406e3afec1f">pcl::visualization::PCLVisualizer::fromHandlersToScreen</a> (</div>
<div class="line"><a name="l01222"></a><span class="lineno"> 1222</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler&lt;PointT&gt;</a> &amp;geometry_handler,</div>
<div class="line"><a name="l01223"></a><span class="lineno"> 1223</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler&lt;PointT&gt;</a> &amp;color_handler,</div>
<div class="line"><a name="l01224"></a><span class="lineno"> 1224</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>,</div>
<div class="line"><a name="l01225"></a><span class="lineno"> 1225</span>&#160;  <span class="keywordtype">int</span> viewport,</div>
<div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>&#160;  <span class="keyword">const</span> Eigen::Vector4f&amp; sensor_origin,</div>
<div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>&#160;  <span class="keyword">const</span> Eigen::Quaternion&lt;float&gt;&amp; sensor_orientation)</div>
<div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;{</div>
<div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160;  <span class="keywordflow">if</span> (!geometry_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a34cd0256912c4365b55ca95237963ba7">isCapable</a> ())</div>
<div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>&#160;  {</div>
<div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[fromHandlersToScreen] PointCloud &lt;%s&gt; requested with an invalid geometry handler (%s)!\n&quot;</span>, <span class="keywordtype">id</span>.c_str (), geometry_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a2df06549787f8004cbb781d8520a26db">getName</a> ().c_str ());</div>
<div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>&#160;  }</div>
<div class="line"><a name="l01234"></a><span class="lineno"> 1234</span>&#160; </div>
<div class="line"><a name="l01235"></a><span class="lineno"> 1235</span>&#160;  <span class="keywordflow">if</span> (!color_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a78d414ffb3e0c6c269cac031c1cba218">isCapable</a> ())</div>
<div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>&#160;  {</div>
<div class="line"><a name="l01237"></a><span class="lineno"> 1237</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[fromHandlersToScreen] PointCloud &lt;%s&gt; requested with an invalid color handler (%s)!\n&quot;</span>, <span class="keywordtype">id</span>.c_str (), color_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#ab81a957a705ca04e781bda20fafa414c">getName</a> ().c_str ());</div>
<div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>&#160;  }</div>
<div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160; </div>
<div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata;</div>
<div class="line"><a name="l01242"></a><span class="lineno"> 1242</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkIdTypeArray&gt;</a> initcells;</div>
<div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>&#160;  <span class="comment">// Convert the PointCloud to VTK PolyData</span></div>
<div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>&#160;  convertPointCloudToVTKPolyData&lt;PointT&gt; (geometry_handler, polydata, initcells);</div>
<div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;  <span class="comment">// use the given geometry handler</span></div>
<div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160; </div>
<div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160;  <span class="comment">// Get the colors from the handler</span></div>
<div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160;  <span class="keywordtype">bool</span> has_colors = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160;  <span class="keywordtype">double</span> minmax[2];</div>
<div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> scalars;</div>
<div class="line"><a name="l01251"></a><span class="lineno"> 1251</span>&#160;  <span class="keywordflow">if</span> (color_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a788257a9e86e041c78a8f8e3250eec7a">getColor</a> (scalars))</div>
<div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>&#160;  {</div>
<div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>&#160;    polydata-&gt;GetPointData ()-&gt;SetScalars (scalars);</div>
<div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>&#160;    scalars-&gt;GetRange (minmax);</div>
<div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160;    has_colors = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;  }</div>
<div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>&#160; </div>
<div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>&#160;  <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor;</div>
<div class="line"><a name="l01260"></a><span class="lineno"> 1260</span>&#160;  createActorFromVTKDataSet (polydata, actor);</div>
<div class="line"><a name="l01261"></a><span class="lineno"> 1261</span>&#160;  <span class="keywordflow">if</span> (has_colors)</div>
<div class="line"><a name="l01262"></a><span class="lineno"> 1262</span>&#160;    actor-&gt;GetMapper ()-&gt;SetScalarRange (minmax);</div>
<div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>&#160; </div>
<div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>&#160;  <span class="comment">// Add it to all renderers</span></div>
<div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>&#160;  addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>&#160; </div>
<div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l01268"></a><span class="lineno"> 1268</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html">CloudActor</a>&amp; cloud_actor = (*cloud_actor_map_)[id];</div>
<div class="line"><a name="l01269"></a><span class="lineno"> 1269</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">actor</a> = actor;</div>
<div class="line"><a name="l01270"></a><span class="lineno"> 1270</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a33d714fdd11d28989b2fbb00b45b7ee2">cells</a> = initcells;</div>
<div class="line"><a name="l01271"></a><span class="lineno"> 1271</span>&#160; </div>
<div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>&#160;  <span class="comment">// Save the viewpoint transformation matrix to the global actor map</span></div>
<div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkMatrix4x4&gt;</a> transformation = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkMatrix4x4&gt;::New</a>();</div>
<div class="line"><a name="l01274"></a><span class="lineno"> 1274</span>&#160;  convertToVtkMatrix (sensor_origin, sensor_orientation, transformation);</div>
<div class="line"><a name="l01275"></a><span class="lineno"> 1275</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a8b14e3236e2777e639785a6020392061">viewpoint_transformation_</a> = transformation;</div>
<div class="line"><a name="l01276"></a><span class="lineno"> 1276</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">actor</a>-&gt;SetUserMatrix (transformation);</div>
<div class="line"><a name="l01277"></a><span class="lineno"> 1277</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">actor</a>-&gt;Modified ();</div>
<div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>&#160; </div>
<div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01280"></a><span class="lineno"> 1280</span>&#160;}</div>
<div class="line"><a name="l01281"></a><span class="lineno"> 1281</span>&#160; </div>
<div class="line"><a name="l01283"></a><span class="lineno"> 1283</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01284"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#add7b161ed3e8a0476ba5644010e3301b"> 1284</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a749041b9375495588a3e0406e3afec1f">pcl::visualization::PCLVisualizer::fromHandlersToScreen</a> (</div>
<div class="line"><a name="l01285"></a><span class="lineno"> 1285</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler&lt;PointT&gt;</a> &amp;geometry_handler,</div>
<div class="line"><a name="l01286"></a><span class="lineno"> 1286</span>&#160;  <span class="keyword">const</span> ColorHandlerConstPtr &amp;color_handler,</div>
<div class="line"><a name="l01287"></a><span class="lineno"> 1287</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>,</div>
<div class="line"><a name="l01288"></a><span class="lineno"> 1288</span>&#160;  <span class="keywordtype">int</span> viewport,</div>
<div class="line"><a name="l01289"></a><span class="lineno"> 1289</span>&#160;  <span class="keyword">const</span> Eigen::Vector4f&amp; sensor_origin,</div>
<div class="line"><a name="l01290"></a><span class="lineno"> 1290</span>&#160;  <span class="keyword">const</span> Eigen::Quaternion&lt;float&gt;&amp; sensor_orientation)</div>
<div class="line"><a name="l01291"></a><span class="lineno"> 1291</span>&#160;{</div>
<div class="line"><a name="l01292"></a><span class="lineno"> 1292</span>&#160;  <span class="keywordflow">if</span> (!geometry_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a34cd0256912c4365b55ca95237963ba7">isCapable</a> ())</div>
<div class="line"><a name="l01293"></a><span class="lineno"> 1293</span>&#160;  {</div>
<div class="line"><a name="l01294"></a><span class="lineno"> 1294</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[fromHandlersToScreen] PointCloud &lt;%s&gt; requested with an invalid geometry handler (%s)!\n&quot;</span>, <span class="keywordtype">id</span>.c_str (), geometry_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a2df06549787f8004cbb781d8520a26db">getName</a> ().c_str ());</div>
<div class="line"><a name="l01295"></a><span class="lineno"> 1295</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01296"></a><span class="lineno"> 1296</span>&#160;  }</div>
<div class="line"><a name="l01297"></a><span class="lineno"> 1297</span>&#160; </div>
<div class="line"><a name="l01298"></a><span class="lineno"> 1298</span>&#160;  <span class="keywordflow">if</span> (!color_handler-&gt;isCapable ())</div>
<div class="line"><a name="l01299"></a><span class="lineno"> 1299</span>&#160;  {</div>
<div class="line"><a name="l01300"></a><span class="lineno"> 1300</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[fromHandlersToScreen] PointCloud &lt;%s&gt; requested with an invalid color handler (%s)!\n&quot;</span>, <span class="keywordtype">id</span>.c_str (), color_handler-&gt;getName ().c_str ());</div>
<div class="line"><a name="l01301"></a><span class="lineno"> 1301</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01302"></a><span class="lineno"> 1302</span>&#160;  }</div>
<div class="line"><a name="l01303"></a><span class="lineno"> 1303</span>&#160; </div>
<div class="line"><a name="l01304"></a><span class="lineno"> 1304</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata;</div>
<div class="line"><a name="l01305"></a><span class="lineno"> 1305</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkIdTypeArray&gt;</a> initcells;</div>
<div class="line"><a name="l01306"></a><span class="lineno"> 1306</span>&#160;  <span class="comment">// Convert the PointCloud to VTK PolyData</span></div>
<div class="line"><a name="l01307"></a><span class="lineno"> 1307</span>&#160;  convertPointCloudToVTKPolyData&lt;PointT&gt; (geometry_handler, polydata, initcells);</div>
<div class="line"><a name="l01308"></a><span class="lineno"> 1308</span>&#160;  <span class="comment">// use the given geometry handler</span></div>
<div class="line"><a name="l01309"></a><span class="lineno"> 1309</span>&#160; </div>
<div class="line"><a name="l01310"></a><span class="lineno"> 1310</span>&#160;  <span class="comment">// Get the colors from the handler</span></div>
<div class="line"><a name="l01311"></a><span class="lineno"> 1311</span>&#160;  <span class="keywordtype">bool</span> has_colors = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01312"></a><span class="lineno"> 1312</span>&#160;  <span class="keywordtype">double</span> minmax[2];</div>
<div class="line"><a name="l01313"></a><span class="lineno"> 1313</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> scalars;</div>
<div class="line"><a name="l01314"></a><span class="lineno"> 1314</span>&#160;  <span class="keywordflow">if</span> (color_handler-&gt;getColor (scalars))</div>
<div class="line"><a name="l01315"></a><span class="lineno"> 1315</span>&#160;  {</div>
<div class="line"><a name="l01316"></a><span class="lineno"> 1316</span>&#160;    polydata-&gt;GetPointData ()-&gt;SetScalars (scalars);</div>
<div class="line"><a name="l01317"></a><span class="lineno"> 1317</span>&#160;    scalars-&gt;GetRange (minmax);</div>
<div class="line"><a name="l01318"></a><span class="lineno"> 1318</span>&#160;    has_colors = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01319"></a><span class="lineno"> 1319</span>&#160;  }</div>
<div class="line"><a name="l01320"></a><span class="lineno"> 1320</span>&#160; </div>
<div class="line"><a name="l01321"></a><span class="lineno"> 1321</span>&#160;  <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l01322"></a><span class="lineno"> 1322</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor;</div>
<div class="line"><a name="l01323"></a><span class="lineno"> 1323</span>&#160;  createActorFromVTKDataSet (polydata, actor);</div>
<div class="line"><a name="l01324"></a><span class="lineno"> 1324</span>&#160;  <span class="keywordflow">if</span> (has_colors)</div>
<div class="line"><a name="l01325"></a><span class="lineno"> 1325</span>&#160;    actor-&gt;GetMapper ()-&gt;SetScalarRange (minmax);</div>
<div class="line"><a name="l01326"></a><span class="lineno"> 1326</span>&#160; </div>
<div class="line"><a name="l01327"></a><span class="lineno"> 1327</span>&#160;  <span class="comment">// Add it to all renderers</span></div>
<div class="line"><a name="l01328"></a><span class="lineno"> 1328</span>&#160;  addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l01329"></a><span class="lineno"> 1329</span>&#160; </div>
<div class="line"><a name="l01330"></a><span class="lineno"> 1330</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l01331"></a><span class="lineno"> 1331</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html">CloudActor</a>&amp; cloud_actor = (*cloud_actor_map_)[id];</div>
<div class="line"><a name="l01332"></a><span class="lineno"> 1332</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">actor</a> = actor;</div>
<div class="line"><a name="l01333"></a><span class="lineno"> 1333</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a33d714fdd11d28989b2fbb00b45b7ee2">cells</a> = initcells;</div>
<div class="line"><a name="l01334"></a><span class="lineno"> 1334</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a3f9bed3002a8fe0541b70f2572fcbfae">color_handlers</a>.push_back (color_handler);</div>
<div class="line"><a name="l01335"></a><span class="lineno"> 1335</span>&#160; </div>
<div class="line"><a name="l01336"></a><span class="lineno"> 1336</span>&#160;  <span class="comment">// Save the viewpoint transformation matrix to the global actor map</span></div>
<div class="line"><a name="l01337"></a><span class="lineno"> 1337</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkMatrix4x4&gt;</a> transformation = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkMatrix4x4&gt;::New</a>();</div>
<div class="line"><a name="l01338"></a><span class="lineno"> 1338</span>&#160;  convertToVtkMatrix (sensor_origin, sensor_orientation, transformation);</div>
<div class="line"><a name="l01339"></a><span class="lineno"> 1339</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a8b14e3236e2777e639785a6020392061">viewpoint_transformation_</a> = transformation;</div>
<div class="line"><a name="l01340"></a><span class="lineno"> 1340</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">actor</a>-&gt;SetUserMatrix (transformation);</div>
<div class="line"><a name="l01341"></a><span class="lineno"> 1341</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">actor</a>-&gt;Modified ();</div>
<div class="line"><a name="l01342"></a><span class="lineno"> 1342</span>&#160; </div>
<div class="line"><a name="l01343"></a><span class="lineno"> 1343</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01344"></a><span class="lineno"> 1344</span>&#160;}</div>
<div class="line"><a name="l01345"></a><span class="lineno"> 1345</span>&#160; </div>
<div class="line"><a name="l01347"></a><span class="lineno"> 1347</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01348"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a1760149f341ff2ea722e0f0cd033b09d"> 1348</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a749041b9375495588a3e0406e3afec1f">pcl::visualization::PCLVisualizer::fromHandlersToScreen</a> (</div>
<div class="line"><a name="l01349"></a><span class="lineno"> 1349</span>&#160;  <span class="keyword">const</span> GeometryHandlerConstPtr &amp;geometry_handler,</div>
<div class="line"><a name="l01350"></a><span class="lineno"> 1350</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler&lt;PointT&gt;</a> &amp;color_handler,</div>
<div class="line"><a name="l01351"></a><span class="lineno"> 1351</span>&#160;  <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>,</div>
<div class="line"><a name="l01352"></a><span class="lineno"> 1352</span>&#160;  <span class="keywordtype">int</span> viewport,</div>
<div class="line"><a name="l01353"></a><span class="lineno"> 1353</span>&#160;  <span class="keyword">const</span> Eigen::Vector4f&amp; sensor_origin,</div>
<div class="line"><a name="l01354"></a><span class="lineno"> 1354</span>&#160;  <span class="keyword">const</span> Eigen::Quaternion&lt;float&gt;&amp; sensor_orientation)</div>
<div class="line"><a name="l01355"></a><span class="lineno"> 1355</span>&#160;{</div>
<div class="line"><a name="l01356"></a><span class="lineno"> 1356</span>&#160;  <span class="keywordflow">if</span> (!geometry_handler-&gt;isCapable ())</div>
<div class="line"><a name="l01357"></a><span class="lineno"> 1357</span>&#160;  {</div>
<div class="line"><a name="l01358"></a><span class="lineno"> 1358</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[fromHandlersToScreen] PointCloud &lt;%s&gt; requested with an invalid geometry handler (%s)!\n&quot;</span>, <span class="keywordtype">id</span>.c_str (), geometry_handler-&gt;getName ().c_str ());</div>
<div class="line"><a name="l01359"></a><span class="lineno"> 1359</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01360"></a><span class="lineno"> 1360</span>&#160;  }</div>
<div class="line"><a name="l01361"></a><span class="lineno"> 1361</span>&#160; </div>
<div class="line"><a name="l01362"></a><span class="lineno"> 1362</span>&#160;  <span class="keywordflow">if</span> (!color_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a78d414ffb3e0c6c269cac031c1cba218">isCapable</a> ())</div>
<div class="line"><a name="l01363"></a><span class="lineno"> 1363</span>&#160;  {</div>
<div class="line"><a name="l01364"></a><span class="lineno"> 1364</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[fromHandlersToScreen] PointCloud &lt;%s&gt; requested with an invalid color handler (%s)!\n&quot;</span>, <span class="keywordtype">id</span>.c_str (), color_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#ab81a957a705ca04e781bda20fafa414c">getName</a> ().c_str ());</div>
<div class="line"><a name="l01365"></a><span class="lineno"> 1365</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01366"></a><span class="lineno"> 1366</span>&#160;  }</div>
<div class="line"><a name="l01367"></a><span class="lineno"> 1367</span>&#160; </div>
<div class="line"><a name="l01368"></a><span class="lineno"> 1368</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata;</div>
<div class="line"><a name="l01369"></a><span class="lineno"> 1369</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkIdTypeArray&gt;</a> initcells;</div>
<div class="line"><a name="l01370"></a><span class="lineno"> 1370</span>&#160;  <span class="comment">// Convert the PointCloud to VTK PolyData</span></div>
<div class="line"><a name="l01371"></a><span class="lineno"> 1371</span>&#160;  convertPointCloudToVTKPolyData (geometry_handler, polydata, initcells);</div>
<div class="line"><a name="l01372"></a><span class="lineno"> 1372</span>&#160;  <span class="comment">// use the given geometry handler</span></div>
<div class="line"><a name="l01373"></a><span class="lineno"> 1373</span>&#160; </div>
<div class="line"><a name="l01374"></a><span class="lineno"> 1374</span>&#160;  <span class="comment">// Get the colors from the handler</span></div>
<div class="line"><a name="l01375"></a><span class="lineno"> 1375</span>&#160;  <span class="keywordtype">bool</span> has_colors = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01376"></a><span class="lineno"> 1376</span>&#160;  <span class="keywordtype">double</span> minmax[2];</div>
<div class="line"><a name="l01377"></a><span class="lineno"> 1377</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> scalars;</div>
<div class="line"><a name="l01378"></a><span class="lineno"> 1378</span>&#160;  <span class="keywordflow">if</span> (color_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a788257a9e86e041c78a8f8e3250eec7a">getColor</a> (scalars))</div>
<div class="line"><a name="l01379"></a><span class="lineno"> 1379</span>&#160;  {</div>
<div class="line"><a name="l01380"></a><span class="lineno"> 1380</span>&#160;    polydata-&gt;GetPointData ()-&gt;SetScalars (scalars);</div>
<div class="line"><a name="l01381"></a><span class="lineno"> 1381</span>&#160;    scalars-&gt;GetRange (minmax);</div>
<div class="line"><a name="l01382"></a><span class="lineno"> 1382</span>&#160;    has_colors = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01383"></a><span class="lineno"> 1383</span>&#160;  }</div>
<div class="line"><a name="l01384"></a><span class="lineno"> 1384</span>&#160; </div>
<div class="line"><a name="l01385"></a><span class="lineno"> 1385</span>&#160;  <span class="comment">// Create an Actor</span></div>
<div class="line"><a name="l01386"></a><span class="lineno"> 1386</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor;</div>
<div class="line"><a name="l01387"></a><span class="lineno"> 1387</span>&#160;  createActorFromVTKDataSet (polydata, actor);</div>
<div class="line"><a name="l01388"></a><span class="lineno"> 1388</span>&#160;  <span class="keywordflow">if</span> (has_colors)</div>
<div class="line"><a name="l01389"></a><span class="lineno"> 1389</span>&#160;    actor-&gt;GetMapper ()-&gt;SetScalarRange (minmax);</div>
<div class="line"><a name="l01390"></a><span class="lineno"> 1390</span>&#160; </div>
<div class="line"><a name="l01391"></a><span class="lineno"> 1391</span>&#160;  <span class="comment">// Add it to all renderers</span></div>
<div class="line"><a name="l01392"></a><span class="lineno"> 1392</span>&#160;  addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l01393"></a><span class="lineno"> 1393</span>&#160; </div>
<div class="line"><a name="l01394"></a><span class="lineno"> 1394</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l01395"></a><span class="lineno"> 1395</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html">CloudActor</a>&amp; cloud_actor = (*cloud_actor_map_)[id];</div>
<div class="line"><a name="l01396"></a><span class="lineno"> 1396</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">actor</a> = actor;</div>
<div class="line"><a name="l01397"></a><span class="lineno"> 1397</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a33d714fdd11d28989b2fbb00b45b7ee2">cells</a> = initcells;</div>
<div class="line"><a name="l01398"></a><span class="lineno"> 1398</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#ab1628e864bd8342f90c5cbb7ce5b3618">geometry_handlers</a>.push_back (geometry_handler);</div>
<div class="line"><a name="l01399"></a><span class="lineno"> 1399</span>&#160; </div>
<div class="line"><a name="l01400"></a><span class="lineno"> 1400</span>&#160;  <span class="comment">// Save the viewpoint transformation matrix to the global actor map</span></div>
<div class="line"><a name="l01401"></a><span class="lineno"> 1401</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkMatrix4x4&gt;</a> transformation = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkMatrix4x4&gt;::New</a> ();</div>
<div class="line"><a name="l01402"></a><span class="lineno"> 1402</span>&#160;  convertToVtkMatrix (sensor_origin, sensor_orientation, transformation);</div>
<div class="line"><a name="l01403"></a><span class="lineno"> 1403</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a8b14e3236e2777e639785a6020392061">viewpoint_transformation_</a> = transformation;</div>
<div class="line"><a name="l01404"></a><span class="lineno"> 1404</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">actor</a>-&gt;SetUserMatrix (transformation);</div>
<div class="line"><a name="l01405"></a><span class="lineno"> 1405</span>&#160;  cloud_actor.<a class="code" href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">actor</a>-&gt;Modified ();</div>
<div class="line"><a name="l01406"></a><span class="lineno"> 1406</span>&#160; </div>
<div class="line"><a name="l01407"></a><span class="lineno"> 1407</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01408"></a><span class="lineno"> 1408</span>&#160;}</div>
<div class="line"><a name="l01409"></a><span class="lineno"> 1409</span>&#160; </div>
<div class="line"><a name="l01411"></a><span class="lineno"> 1411</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01412"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a629dbb72b085fa25d382fa982eaefa64"> 1412</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a629dbb72b085fa25d382fa982eaefa64">pcl::visualization::PCLVisualizer::updatePointCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l01413"></a><span class="lineno"> 1413</span>&#160;                                                     <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>)</div>
<div class="line"><a name="l01414"></a><span class="lineno"> 1414</span>&#160;{</div>
<div class="line"><a name="l01415"></a><span class="lineno"> 1415</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l01416"></a><span class="lineno"> 1416</span>&#160;  CloudActorMap::iterator am_it = cloud_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l01417"></a><span class="lineno"> 1417</span>&#160; </div>
<div class="line"><a name="l01418"></a><span class="lineno"> 1418</span>&#160;  <span class="keywordflow">if</span> (am_it == cloud_actor_map_-&gt;end ())</div>
<div class="line"><a name="l01419"></a><span class="lineno"> 1419</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01420"></a><span class="lineno"> 1420</span>&#160; </div>
<div class="line"><a name="l01421"></a><span class="lineno"> 1421</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata = <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span>(am_it-&gt;second.actor-&gt;GetMapper ())-&gt;GetInput ();</div>
<div class="line"><a name="l01422"></a><span class="lineno"> 1422</span>&#160;  <span class="comment">// Convert the PointCloud to VTK PolyData</span></div>
<div class="line"><a name="l01423"></a><span class="lineno"> 1423</span>&#160;  convertPointCloudToVTKPolyData&lt;PointT&gt; (cloud, polydata, am_it-&gt;second.cells);</div>
<div class="line"><a name="l01424"></a><span class="lineno"> 1424</span>&#160; </div>
<div class="line"><a name="l01425"></a><span class="lineno"> 1425</span>&#160;  <span class="comment">// Set scalars to blank, since there is no way we can update them here.</span></div>
<div class="line"><a name="l01426"></a><span class="lineno"> 1426</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> scalars;</div>
<div class="line"><a name="l01427"></a><span class="lineno"> 1427</span>&#160;  polydata-&gt;GetPointData ()-&gt;SetScalars (scalars);</div>
<div class="line"><a name="l01428"></a><span class="lineno"> 1428</span>&#160;  <span class="keywordtype">double</span> minmax[2];</div>
<div class="line"><a name="l01429"></a><span class="lineno"> 1429</span>&#160;  minmax[0] = std::numeric_limits&lt;double&gt;::min ();</div>
<div class="line"><a name="l01430"></a><span class="lineno"> 1430</span>&#160;  minmax[1] = std::numeric_limits&lt;double&gt;::max ();</div>
<div class="line"><a name="l01431"></a><span class="lineno"> 1431</span>&#160;  am_it-&gt;second.actor-&gt;GetMapper ()-&gt;ImmediateModeRenderingOff ();</div>
<div class="line"><a name="l01432"></a><span class="lineno"> 1432</span>&#160;  am_it-&gt;second.actor-&gt;GetMapper ()-&gt;SetScalarRange (minmax);</div>
<div class="line"><a name="l01433"></a><span class="lineno"> 1433</span>&#160; </div>
<div class="line"><a name="l01434"></a><span class="lineno"> 1434</span>&#160;  <span class="comment">// Update the mapper</span></div>
<div class="line"><a name="l01435"></a><span class="lineno"> 1435</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l01436"></a><span class="lineno"> 1436</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span>(am_it-&gt;second.actor-&gt;GetMapper ())-&gt;SetInput (polydata);</div>
<div class="line"><a name="l01437"></a><span class="lineno"> 1437</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l01438"></a><span class="lineno"> 1438</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span> (am_it-&gt;second.actor-&gt;GetMapper ())-&gt;SetInputData (polydata);</div>
<div class="line"><a name="l01439"></a><span class="lineno"> 1439</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l01440"></a><span class="lineno"> 1440</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01441"></a><span class="lineno"> 1441</span>&#160;}</div>
<div class="line"><a name="l01442"></a><span class="lineno"> 1442</span>&#160; </div>
<div class="line"><a name="l01444"></a><span class="lineno"> 1444</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01445"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#ae7ae1c16fca556f85f007b256dd9a313"> 1445</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a629dbb72b085fa25d382fa982eaefa64">pcl::visualization::PCLVisualizer::updatePointCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;,</div>
<div class="line"><a name="l01446"></a><span class="lineno"> 1446</span>&#160;                                                     <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler&lt;PointT&gt;</a> &amp;geometry_handler,</div>
<div class="line"><a name="l01447"></a><span class="lineno"> 1447</span>&#160;                                                     <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>)</div>
<div class="line"><a name="l01448"></a><span class="lineno"> 1448</span>&#160;{</div>
<div class="line"><a name="l01449"></a><span class="lineno"> 1449</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l01450"></a><span class="lineno"> 1450</span>&#160;  CloudActorMap::iterator am_it = cloud_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l01451"></a><span class="lineno"> 1451</span>&#160; </div>
<div class="line"><a name="l01452"></a><span class="lineno"> 1452</span>&#160;  <span class="keywordflow">if</span> (am_it == cloud_actor_map_-&gt;end ())</div>
<div class="line"><a name="l01453"></a><span class="lineno"> 1453</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01454"></a><span class="lineno"> 1454</span>&#160; </div>
<div class="line"><a name="l01455"></a><span class="lineno"> 1455</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata = <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span>(am_it-&gt;second.actor-&gt;GetMapper ())-&gt;GetInput ();</div>
<div class="line"><a name="l01456"></a><span class="lineno"> 1456</span>&#160;  <span class="keywordflow">if</span> (!polydata)</div>
<div class="line"><a name="l01457"></a><span class="lineno"> 1457</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01458"></a><span class="lineno"> 1458</span>&#160;  <span class="comment">// Convert the PointCloud to VTK PolyData</span></div>
<div class="line"><a name="l01459"></a><span class="lineno"> 1459</span>&#160;  convertPointCloudToVTKPolyData (geometry_handler, polydata, am_it-&gt;second.cells);</div>
<div class="line"><a name="l01460"></a><span class="lineno"> 1460</span>&#160; </div>
<div class="line"><a name="l01461"></a><span class="lineno"> 1461</span>&#160;  <span class="comment">// Set scalars to blank, since there is no way we can update them here.</span></div>
<div class="line"><a name="l01462"></a><span class="lineno"> 1462</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> scalars;</div>
<div class="line"><a name="l01463"></a><span class="lineno"> 1463</span>&#160;  polydata-&gt;GetPointData ()-&gt;SetScalars (scalars);</div>
<div class="line"><a name="l01464"></a><span class="lineno"> 1464</span>&#160;  <span class="keywordtype">double</span> minmax[2];</div>
<div class="line"><a name="l01465"></a><span class="lineno"> 1465</span>&#160;  minmax[0] = std::numeric_limits&lt;double&gt;::min ();</div>
<div class="line"><a name="l01466"></a><span class="lineno"> 1466</span>&#160;  minmax[1] = std::numeric_limits&lt;double&gt;::max ();</div>
<div class="line"><a name="l01467"></a><span class="lineno"> 1467</span>&#160;  am_it-&gt;second.actor-&gt;GetMapper ()-&gt;ImmediateModeRenderingOff ();</div>
<div class="line"><a name="l01468"></a><span class="lineno"> 1468</span>&#160;  am_it-&gt;second.actor-&gt;GetMapper ()-&gt;SetScalarRange (minmax);</div>
<div class="line"><a name="l01469"></a><span class="lineno"> 1469</span>&#160; </div>
<div class="line"><a name="l01470"></a><span class="lineno"> 1470</span>&#160;  <span class="comment">// Update the mapper</span></div>
<div class="line"><a name="l01471"></a><span class="lineno"> 1471</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l01472"></a><span class="lineno"> 1472</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span>(am_it-&gt;second.actor-&gt;GetMapper ())-&gt;SetInput (polydata);</div>
<div class="line"><a name="l01473"></a><span class="lineno"> 1473</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l01474"></a><span class="lineno"> 1474</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span> (am_it-&gt;second.actor-&gt;GetMapper ())-&gt;SetInputData (polydata);</div>
<div class="line"><a name="l01475"></a><span class="lineno"> 1475</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l01476"></a><span class="lineno"> 1476</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01477"></a><span class="lineno"> 1477</span>&#160;}</div>
<div class="line"><a name="l01478"></a><span class="lineno"> 1478</span>&#160; </div>
<div class="line"><a name="l01479"></a><span class="lineno"> 1479</span>&#160; </div>
<div class="line"><a name="l01481"></a><span class="lineno"> 1481</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01482"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aad3dbcb520b9af0d09f03f2467b3f46e"> 1482</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a629dbb72b085fa25d382fa982eaefa64">pcl::visualization::PCLVisualizer::updatePointCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l01483"></a><span class="lineno"> 1483</span>&#160;                                                     <span class="keyword">const</span> <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler&lt;PointT&gt;</a> &amp;color_handler,</div>
<div class="line"><a name="l01484"></a><span class="lineno"> 1484</span>&#160;                                                     <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>)</div>
<div class="line"><a name="l01485"></a><span class="lineno"> 1485</span>&#160;{</div>
<div class="line"><a name="l01486"></a><span class="lineno"> 1486</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l01487"></a><span class="lineno"> 1487</span>&#160;  CloudActorMap::iterator am_it = cloud_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l01488"></a><span class="lineno"> 1488</span>&#160; </div>
<div class="line"><a name="l01489"></a><span class="lineno"> 1489</span>&#160;  <span class="keywordflow">if</span> (am_it == cloud_actor_map_-&gt;end ())</div>
<div class="line"><a name="l01490"></a><span class="lineno"> 1490</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01491"></a><span class="lineno"> 1491</span>&#160; </div>
<div class="line"><a name="l01492"></a><span class="lineno"> 1492</span>&#160;  <span class="comment">// Get the current poly data</span></div>
<div class="line"><a name="l01493"></a><span class="lineno"> 1493</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata = <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span>(am_it-&gt;second.actor-&gt;GetMapper ())-&gt;GetInput ();</div>
<div class="line"><a name="l01494"></a><span class="lineno"> 1494</span>&#160;  <span class="keywordflow">if</span> (!polydata)</div>
<div class="line"><a name="l01495"></a><span class="lineno"> 1495</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01496"></a><span class="lineno"> 1496</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;</a> vertices = polydata-&gt;GetVerts ();</div>
<div class="line"><a name="l01497"></a><span class="lineno"> 1497</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> points      = polydata-&gt;GetPoints ();</div>
<div class="line"><a name="l01498"></a><span class="lineno"> 1498</span>&#160;  <span class="comment">// Copy the new point array in</span></div>
<div class="line"><a name="l01499"></a><span class="lineno"> 1499</span>&#160;  vtkIdType nr_points = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l01500"></a><span class="lineno"> 1500</span>&#160;  points-&gt;SetNumberOfPoints (nr_points);</div>
<div class="line"><a name="l01501"></a><span class="lineno"> 1501</span>&#160; </div>
<div class="line"><a name="l01502"></a><span class="lineno"> 1502</span>&#160;  <span class="comment">// Get a pointer to the beginning of the data array</span></div>
<div class="line"><a name="l01503"></a><span class="lineno"> 1503</span>&#160;  <span class="keywordtype">float</span> *data = (<span class="keyword">static_cast&lt;</span>vtkFloatArray*<span class="keyword">&gt;</span> (points-&gt;GetData ()))-&gt;GetPointer (0);</div>
<div class="line"><a name="l01504"></a><span class="lineno"> 1504</span>&#160; </div>
<div class="line"><a name="l01505"></a><span class="lineno"> 1505</span>&#160;  <span class="keywordtype">int</span> pts = 0;</div>
<div class="line"><a name="l01506"></a><span class="lineno"> 1506</span>&#160;  <span class="comment">// If the dataset is dense (no NaNs)</span></div>
<div class="line"><a name="l01507"></a><span class="lineno"> 1507</span>&#160;  <span class="keywordflow">if</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l01508"></a><span class="lineno"> 1508</span>&#160;  {</div>
<div class="line"><a name="l01509"></a><span class="lineno"> 1509</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i, pts += 3)</div>
<div class="line"><a name="l01510"></a><span class="lineno"> 1510</span>&#160;      memcpy (&amp;data[pts], &amp;cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, 12);    <span class="comment">// sizeof (float) * 3</span></div>
<div class="line"><a name="l01511"></a><span class="lineno"> 1511</span>&#160;  }</div>
<div class="line"><a name="l01512"></a><span class="lineno"> 1512</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01513"></a><span class="lineno"> 1513</span>&#160;  {</div>
<div class="line"><a name="l01514"></a><span class="lineno"> 1514</span>&#160;    vtkIdType j = 0;    <span class="comment">// true point index</span></div>
<div class="line"><a name="l01515"></a><span class="lineno"> 1515</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l01516"></a><span class="lineno"> 1516</span>&#160;    {</div>
<div class="line"><a name="l01517"></a><span class="lineno"> 1517</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l01518"></a><span class="lineno"> 1518</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]))</div>
<div class="line"><a name="l01519"></a><span class="lineno"> 1519</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01520"></a><span class="lineno"> 1520</span>&#160; </div>
<div class="line"><a name="l01521"></a><span class="lineno"> 1521</span>&#160;      memcpy (&amp;data[pts], &amp;cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, 12);    <span class="comment">// sizeof (float) * 3</span></div>
<div class="line"><a name="l01522"></a><span class="lineno"> 1522</span>&#160;      pts += 3;</div>
<div class="line"><a name="l01523"></a><span class="lineno"> 1523</span>&#160;      j++;</div>
<div class="line"><a name="l01524"></a><span class="lineno"> 1524</span>&#160;    }</div>
<div class="line"><a name="l01525"></a><span class="lineno"> 1525</span>&#160;    nr_points = j;</div>
<div class="line"><a name="l01526"></a><span class="lineno"> 1526</span>&#160;    points-&gt;SetNumberOfPoints (nr_points);</div>
<div class="line"><a name="l01527"></a><span class="lineno"> 1527</span>&#160;  }</div>
<div class="line"><a name="l01528"></a><span class="lineno"> 1528</span>&#160; </div>
<div class="line"><a name="l01529"></a><span class="lineno"> 1529</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkIdTypeArray&gt;</a> cells = vertices-&gt;GetData ();</div>
<div class="line"><a name="l01530"></a><span class="lineno"> 1530</span>&#160;  updateCells (cells, am_it-&gt;second.cells, nr_points);</div>
<div class="line"><a name="l01531"></a><span class="lineno"> 1531</span>&#160; </div>
<div class="line"><a name="l01532"></a><span class="lineno"> 1532</span>&#160;  <span class="comment">// Set the cells and the vertices</span></div>
<div class="line"><a name="l01533"></a><span class="lineno"> 1533</span>&#160;  vertices-&gt;SetCells (nr_points, cells);</div>
<div class="line"><a name="l01534"></a><span class="lineno"> 1534</span>&#160; </div>
<div class="line"><a name="l01535"></a><span class="lineno"> 1535</span>&#160;  <span class="comment">// Get the colors from the handler</span></div>
<div class="line"><a name="l01536"></a><span class="lineno"> 1536</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataArray&gt;</a> scalars;</div>
<div class="line"><a name="l01537"></a><span class="lineno"> 1537</span>&#160;  color_handler.<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a788257a9e86e041c78a8f8e3250eec7a">getColor</a> (scalars);</div>
<div class="line"><a name="l01538"></a><span class="lineno"> 1538</span>&#160;  <span class="keywordtype">double</span> minmax[2];</div>
<div class="line"><a name="l01539"></a><span class="lineno"> 1539</span>&#160;  scalars-&gt;GetRange (minmax);</div>
<div class="line"><a name="l01540"></a><span class="lineno"> 1540</span>&#160;  <span class="comment">// Update the data</span></div>
<div class="line"><a name="l01541"></a><span class="lineno"> 1541</span>&#160;  polydata-&gt;GetPointData ()-&gt;SetScalars (scalars);</div>
<div class="line"><a name="l01542"></a><span class="lineno"> 1542</span>&#160; </div>
<div class="line"><a name="l01543"></a><span class="lineno"> 1543</span>&#160;  am_it-&gt;second.actor-&gt;GetMapper ()-&gt;ImmediateModeRenderingOff ();</div>
<div class="line"><a name="l01544"></a><span class="lineno"> 1544</span>&#160;  am_it-&gt;second.actor-&gt;GetMapper ()-&gt;SetScalarRange (minmax);</div>
<div class="line"><a name="l01545"></a><span class="lineno"> 1545</span>&#160; </div>
<div class="line"><a name="l01546"></a><span class="lineno"> 1546</span>&#160;  <span class="comment">// Update the mapper</span></div>
<div class="line"><a name="l01547"></a><span class="lineno"> 1547</span>&#160;<span class="preprocessor">#if VTK_MAJOR_VERSION &lt; 6</span></div>
<div class="line"><a name="l01548"></a><span class="lineno"> 1548</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span>(am_it-&gt;second.actor-&gt;GetMapper ())-&gt;SetInput (polydata);</div>
<div class="line"><a name="l01549"></a><span class="lineno"> 1549</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l01550"></a><span class="lineno"> 1550</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span> (am_it-&gt;second.actor-&gt;GetMapper ())-&gt;SetInputData (polydata);</div>
<div class="line"><a name="l01551"></a><span class="lineno"> 1551</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l01552"></a><span class="lineno"> 1552</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01553"></a><span class="lineno"> 1553</span>&#160;}</div>
<div class="line"><a name="l01554"></a><span class="lineno"> 1554</span>&#160; </div>
<div class="line"><a name="l01556"></a><span class="lineno"> 1556</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01557"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a41454a3339e4ad13337901e2b5e55d2f"> 1557</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a04b488bead8ef944b22690be9f768e24">pcl::visualization::PCLVisualizer::addPolygonMesh</a> (</div>
<div class="line"><a name="l01558"></a><span class="lineno"> 1558</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l01559"></a><span class="lineno"> 1559</span>&#160;    <span class="keyword">const</span> std::vector&lt;pcl::Vertices&gt; &amp;vertices,</div>
<div class="line"><a name="l01560"></a><span class="lineno"> 1560</span>&#160;    <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>,</div>
<div class="line"><a name="l01561"></a><span class="lineno"> 1561</span>&#160;    <span class="keywordtype">int</span> viewport)</div>
<div class="line"><a name="l01562"></a><span class="lineno"> 1562</span>&#160;{</div>
<div class="line"><a name="l01563"></a><span class="lineno"> 1563</span>&#160;  <span class="keywordflow">if</span> (vertices.empty () || cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.empty ())</div>
<div class="line"><a name="l01564"></a><span class="lineno"> 1564</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01565"></a><span class="lineno"> 1565</span>&#160; </div>
<div class="line"><a name="l01566"></a><span class="lineno"> 1566</span>&#160;  <span class="keywordflow">if</span> (contains (<span class="keywordtype">id</span>))</div>
<div class="line"><a name="l01567"></a><span class="lineno"> 1567</span>&#160;  {</div>
<div class="line"><a name="l01568"></a><span class="lineno"> 1568</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[addPolygonMesh] The id &lt;%s&gt; already exists! Please choose a different id and retry.\n&quot;</span>, <span class="keywordtype">id</span>.c_str ());</div>
<div class="line"><a name="l01569"></a><span class="lineno"> 1569</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01570"></a><span class="lineno"> 1570</span>&#160;  }</div>
<div class="line"><a name="l01571"></a><span class="lineno"> 1571</span>&#160; </div>
<div class="line"><a name="l01572"></a><span class="lineno"> 1572</span>&#160;  <span class="keywordtype">int</span> rgb_idx = -1;</div>
<div class="line"><a name="l01573"></a><span class="lineno"> 1573</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l01574"></a><span class="lineno"> 1574</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;</a> colors;</div>
<div class="line"><a name="l01575"></a><span class="lineno"> 1575</span>&#160;  rgb_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgb&quot;</span>, fields);</div>
<div class="line"><a name="l01576"></a><span class="lineno"> 1576</span>&#160;  <span class="keywordflow">if</span> (rgb_idx == -1)</div>
<div class="line"><a name="l01577"></a><span class="lineno"> 1577</span>&#160;    rgb_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgba&quot;</span>, fields);</div>
<div class="line"><a name="l01578"></a><span class="lineno"> 1578</span>&#160;  <span class="keywordflow">if</span> (rgb_idx != -1)</div>
<div class="line"><a name="l01579"></a><span class="lineno"> 1579</span>&#160;  {</div>
<div class="line"><a name="l01580"></a><span class="lineno"> 1580</span>&#160;    colors = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l01581"></a><span class="lineno"> 1581</span>&#160;    colors-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l01582"></a><span class="lineno"> 1582</span>&#160;    colors-&gt;SetName (<span class="stringliteral">&quot;Colors&quot;</span>);</div>
<div class="line"><a name="l01583"></a><span class="lineno"> 1583</span>&#160; </div>
<div class="line"><a name="l01584"></a><span class="lineno"> 1584</span>&#160;    <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> rgb_data;</div>
<div class="line"><a name="l01585"></a><span class="lineno"> 1585</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud-&gt;size (); ++i)</div>
<div class="line"><a name="l01586"></a><span class="lineno"> 1586</span>&#160;    {</div>
<div class="line"><a name="l01587"></a><span class="lineno"> 1587</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]))</div>
<div class="line"><a name="l01588"></a><span class="lineno"> 1588</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01589"></a><span class="lineno"> 1589</span>&#160;      memcpy (&amp;rgb_data, <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]) + fields[rgb_idx].offset, sizeof (<a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>));</div>
<div class="line"><a name="l01590"></a><span class="lineno"> 1590</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> color[3];</div>
<div class="line"><a name="l01591"></a><span class="lineno"> 1591</span>&#160;      color[0] = rgb_data.r;</div>
<div class="line"><a name="l01592"></a><span class="lineno"> 1592</span>&#160;      color[1] = rgb_data.g;</div>
<div class="line"><a name="l01593"></a><span class="lineno"> 1593</span>&#160;      color[2] = rgb_data.b;</div>
<div class="line"><a name="l01594"></a><span class="lineno"> 1594</span>&#160;      colors-&gt;InsertNextTupleValue (color);</div>
<div class="line"><a name="l01595"></a><span class="lineno"> 1595</span>&#160;    }</div>
<div class="line"><a name="l01596"></a><span class="lineno"> 1596</span>&#160;  }</div>
<div class="line"><a name="l01597"></a><span class="lineno"> 1597</span>&#160; </div>
<div class="line"><a name="l01598"></a><span class="lineno"> 1598</span>&#160;  <span class="comment">// Create points from polyMesh.cloud</span></div>
<div class="line"><a name="l01599"></a><span class="lineno"> 1599</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;::New</a> ();</div>
<div class="line"><a name="l01600"></a><span class="lineno"> 1600</span>&#160;  vtkIdType nr_points = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l01601"></a><span class="lineno"> 1601</span>&#160;  points-&gt;SetNumberOfPoints (nr_points);</div>
<div class="line"><a name="l01602"></a><span class="lineno"> 1602</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkLODActor&gt;</a> actor;</div>
<div class="line"><a name="l01603"></a><span class="lineno"> 1603</span>&#160; </div>
<div class="line"><a name="l01604"></a><span class="lineno"> 1604</span>&#160;  <span class="comment">// Get a pointer to the beginning of the data array</span></div>
<div class="line"><a name="l01605"></a><span class="lineno"> 1605</span>&#160;  <span class="keywordtype">float</span> *data = <span class="keyword">static_cast&lt;</span>vtkFloatArray*<span class="keyword">&gt;</span> (points-&gt;GetData ())-&gt;GetPointer (0);</div>
<div class="line"><a name="l01606"></a><span class="lineno"> 1606</span>&#160; </div>
<div class="line"><a name="l01607"></a><span class="lineno"> 1607</span>&#160;  <span class="keywordtype">int</span> ptr = 0;</div>
<div class="line"><a name="l01608"></a><span class="lineno"> 1608</span>&#160;  std::vector&lt;int&gt; lookup;</div>
<div class="line"><a name="l01609"></a><span class="lineno"> 1609</span>&#160;  <span class="comment">// If the dataset is dense (no NaNs)</span></div>
<div class="line"><a name="l01610"></a><span class="lineno"> 1610</span>&#160;  <span class="keywordflow">if</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l01611"></a><span class="lineno"> 1611</span>&#160;  {</div>
<div class="line"><a name="l01612"></a><span class="lineno"> 1612</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i, ptr += 3)</div>
<div class="line"><a name="l01613"></a><span class="lineno"> 1613</span>&#160;      memcpy (&amp;data[ptr], &amp;cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, sizeof (<span class="keywordtype">float</span>) * 3);</div>
<div class="line"><a name="l01614"></a><span class="lineno"> 1614</span>&#160;  }</div>
<div class="line"><a name="l01615"></a><span class="lineno"> 1615</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01616"></a><span class="lineno"> 1616</span>&#160;  {</div>
<div class="line"><a name="l01617"></a><span class="lineno"> 1617</span>&#160;    lookup.resize (nr_points);</div>
<div class="line"><a name="l01618"></a><span class="lineno"> 1618</span>&#160;    vtkIdType j = 0;    <span class="comment">// true point index</span></div>
<div class="line"><a name="l01619"></a><span class="lineno"> 1619</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l01620"></a><span class="lineno"> 1620</span>&#160;    {</div>
<div class="line"><a name="l01621"></a><span class="lineno"> 1621</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l01622"></a><span class="lineno"> 1622</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]))</div>
<div class="line"><a name="l01623"></a><span class="lineno"> 1623</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01624"></a><span class="lineno"> 1624</span>&#160; </div>
<div class="line"><a name="l01625"></a><span class="lineno"> 1625</span>&#160;      lookup[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (j);</div>
<div class="line"><a name="l01626"></a><span class="lineno"> 1626</span>&#160;      memcpy (&amp;data[ptr], &amp;cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, sizeof (<span class="keywordtype">float</span>) * 3);</div>
<div class="line"><a name="l01627"></a><span class="lineno"> 1627</span>&#160;      j++;</div>
<div class="line"><a name="l01628"></a><span class="lineno"> 1628</span>&#160;      ptr += 3;</div>
<div class="line"><a name="l01629"></a><span class="lineno"> 1629</span>&#160;    }</div>
<div class="line"><a name="l01630"></a><span class="lineno"> 1630</span>&#160;    nr_points = j;</div>
<div class="line"><a name="l01631"></a><span class="lineno"> 1631</span>&#160;    points-&gt;SetNumberOfPoints (nr_points);</div>
<div class="line"><a name="l01632"></a><span class="lineno"> 1632</span>&#160;  }</div>
<div class="line"><a name="l01633"></a><span class="lineno"> 1633</span>&#160; </div>
<div class="line"><a name="l01634"></a><span class="lineno"> 1634</span>&#160;  <span class="comment">// Get the maximum size of a polygon</span></div>
<div class="line"><a name="l01635"></a><span class="lineno"> 1635</span>&#160;  <span class="keywordtype">int</span> max_size_of_polygon = -1;</div>
<div class="line"><a name="l01636"></a><span class="lineno"> 1636</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; vertices.size (); ++i)</div>
<div class="line"><a name="l01637"></a><span class="lineno"> 1637</span>&#160;    <span class="keywordflow">if</span> (max_size_of_polygon &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (vertices[i].vertices.size ()))</div>
<div class="line"><a name="l01638"></a><span class="lineno"> 1638</span>&#160;      max_size_of_polygon = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (vertices[i].vertices.size ());</div>
<div class="line"><a name="l01639"></a><span class="lineno"> 1639</span>&#160; </div>
<div class="line"><a name="l01640"></a><span class="lineno"> 1640</span>&#160;  <span class="keywordflow">if</span> (vertices.size () &gt; 1)</div>
<div class="line"><a name="l01641"></a><span class="lineno"> 1641</span>&#160;  {</div>
<div class="line"><a name="l01642"></a><span class="lineno"> 1642</span>&#160;    <span class="comment">// Create polys from polyMesh.polygons</span></div>
<div class="line"><a name="l01643"></a><span class="lineno"> 1643</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;</a> cell_array = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;::New</a> ();</div>
<div class="line"><a name="l01644"></a><span class="lineno"> 1644</span>&#160;    vtkIdType *cell = cell_array-&gt;WritePointer (vertices.size (), vertices.size () * (max_size_of_polygon + 1));</div>
<div class="line"><a name="l01645"></a><span class="lineno"> 1645</span>&#160;    <span class="keywordtype">int</span> idx = 0;</div>
<div class="line"><a name="l01646"></a><span class="lineno"> 1646</span>&#160;    <span class="keywordflow">if</span> (lookup.size () &gt; 0)</div>
<div class="line"><a name="l01647"></a><span class="lineno"> 1647</span>&#160;    {</div>
<div class="line"><a name="l01648"></a><span class="lineno"> 1648</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; vertices.size (); ++i, ++idx)</div>
<div class="line"><a name="l01649"></a><span class="lineno"> 1649</span>&#160;      {</div>
<div class="line"><a name="l01650"></a><span class="lineno"> 1650</span>&#160;        <span class="keywordtype">size_t</span> n_points = vertices[i].vertices.size ();</div>
<div class="line"><a name="l01651"></a><span class="lineno"> 1651</span>&#160;        *cell++ = n_points;</div>
<div class="line"><a name="l01652"></a><span class="lineno"> 1652</span>&#160;        <span class="comment">//cell_array-&gt;InsertNextCell (n_points);</span></div>
<div class="line"><a name="l01653"></a><span class="lineno"> 1653</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; n_points; j++, ++idx)</div>
<div class="line"><a name="l01654"></a><span class="lineno"> 1654</span>&#160;          *cell++ = lookup[vertices[i].vertices[j]];</div>
<div class="line"><a name="l01655"></a><span class="lineno"> 1655</span>&#160;          <span class="comment">//cell_array-&gt;InsertCellPoint (lookup[vertices[i].vertices[j]]);</span></div>
<div class="line"><a name="l01656"></a><span class="lineno"> 1656</span>&#160;      }</div>
<div class="line"><a name="l01657"></a><span class="lineno"> 1657</span>&#160;    }</div>
<div class="line"><a name="l01658"></a><span class="lineno"> 1658</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01659"></a><span class="lineno"> 1659</span>&#160;    {</div>
<div class="line"><a name="l01660"></a><span class="lineno"> 1660</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; vertices.size (); ++i, ++idx)</div>
<div class="line"><a name="l01661"></a><span class="lineno"> 1661</span>&#160;      {</div>
<div class="line"><a name="l01662"></a><span class="lineno"> 1662</span>&#160;        <span class="keywordtype">size_t</span> n_points = vertices[i].vertices.size ();</div>
<div class="line"><a name="l01663"></a><span class="lineno"> 1663</span>&#160;        *cell++ = n_points;</div>
<div class="line"><a name="l01664"></a><span class="lineno"> 1664</span>&#160;        <span class="comment">//cell_array-&gt;InsertNextCell (n_points);</span></div>
<div class="line"><a name="l01665"></a><span class="lineno"> 1665</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; n_points; j++, ++idx)</div>
<div class="line"><a name="l01666"></a><span class="lineno"> 1666</span>&#160;          *cell++ = vertices[i].vertices[j];</div>
<div class="line"><a name="l01667"></a><span class="lineno"> 1667</span>&#160;          <span class="comment">//cell_array-&gt;InsertCellPoint (vertices[i].vertices[j]);</span></div>
<div class="line"><a name="l01668"></a><span class="lineno"> 1668</span>&#160;      }</div>
<div class="line"><a name="l01669"></a><span class="lineno"> 1669</span>&#160;    }</div>
<div class="line"><a name="l01670"></a><span class="lineno"> 1670</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata;</div>
<div class="line"><a name="l01671"></a><span class="lineno"> 1671</span>&#160;    allocVtkPolyData (polydata);</div>
<div class="line"><a name="l01672"></a><span class="lineno"> 1672</span>&#160;    cell_array-&gt;GetData ()-&gt;SetNumberOfValues (idx);</div>
<div class="line"><a name="l01673"></a><span class="lineno"> 1673</span>&#160;    cell_array-&gt;Squeeze ();</div>
<div class="line"><a name="l01674"></a><span class="lineno"> 1674</span>&#160;    polydata-&gt;SetPolys (cell_array);</div>
<div class="line"><a name="l01675"></a><span class="lineno"> 1675</span>&#160;    polydata-&gt;SetPoints (points);</div>
<div class="line"><a name="l01676"></a><span class="lineno"> 1676</span>&#160;  </div>
<div class="line"><a name="l01677"></a><span class="lineno"> 1677</span>&#160;    <span class="keywordflow">if</span> (colors)</div>
<div class="line"><a name="l01678"></a><span class="lineno"> 1678</span>&#160;      polydata-&gt;GetPointData ()-&gt;SetScalars (colors);</div>
<div class="line"><a name="l01679"></a><span class="lineno"> 1679</span>&#160; </div>
<div class="line"><a name="l01680"></a><span class="lineno"> 1680</span>&#160;    createActorFromVTKDataSet (polydata, actor, <span class="keyword">false</span>);</div>
<div class="line"><a name="l01681"></a><span class="lineno"> 1681</span>&#160;  }</div>
<div class="line"><a name="l01682"></a><span class="lineno"> 1682</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01683"></a><span class="lineno"> 1683</span>&#160;  {</div>
<div class="line"><a name="l01684"></a><span class="lineno"> 1684</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolygon&gt;</a> polygon = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolygon&gt;::New</a> ();</div>
<div class="line"><a name="l01685"></a><span class="lineno"> 1685</span>&#160;    <span class="keywordtype">size_t</span> n_points = vertices[0].vertices.size ();</div>
<div class="line"><a name="l01686"></a><span class="lineno"> 1686</span>&#160;    polygon-&gt;GetPointIds ()-&gt;SetNumberOfIds (n_points - 1);</div>
<div class="line"><a name="l01687"></a><span class="lineno"> 1687</span>&#160; </div>
<div class="line"><a name="l01688"></a><span class="lineno"> 1688</span>&#160;    <span class="keywordflow">if</span> (lookup.size () &gt; 0)</div>
<div class="line"><a name="l01689"></a><span class="lineno"> 1689</span>&#160;    {</div>
<div class="line"><a name="l01690"></a><span class="lineno"> 1690</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; (n_points - 1); ++j)</div>
<div class="line"><a name="l01691"></a><span class="lineno"> 1691</span>&#160;        polygon-&gt;GetPointIds ()-&gt;SetId (j, lookup[vertices[0].vertices[j]]);</div>
<div class="line"><a name="l01692"></a><span class="lineno"> 1692</span>&#160;    }</div>
<div class="line"><a name="l01693"></a><span class="lineno"> 1693</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01694"></a><span class="lineno"> 1694</span>&#160;    {</div>
<div class="line"><a name="l01695"></a><span class="lineno"> 1695</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; (n_points - 1); ++j)</div>
<div class="line"><a name="l01696"></a><span class="lineno"> 1696</span>&#160;        polygon-&gt;GetPointIds ()-&gt;SetId (j, vertices[0].vertices[j]);</div>
<div class="line"><a name="l01697"></a><span class="lineno"> 1697</span>&#160;    }</div>
<div class="line"><a name="l01698"></a><span class="lineno"> 1698</span>&#160;    <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnstructuredGrid&gt;</a> poly_grid;</div>
<div class="line"><a name="l01699"></a><span class="lineno"> 1699</span>&#160;    <a class="code" href="shapes_8h.html#aeabaade9c81f6faf7e6d0be905df8f6e">allocVtkUnstructuredGrid</a> (poly_grid);</div>
<div class="line"><a name="l01700"></a><span class="lineno"> 1700</span>&#160;    poly_grid-&gt;Allocate (1, 1);</div>
<div class="line"><a name="l01701"></a><span class="lineno"> 1701</span>&#160;    poly_grid-&gt;InsertNextCell (polygon-&gt;GetCellType (), polygon-&gt;GetPointIds ());</div>
<div class="line"><a name="l01702"></a><span class="lineno"> 1702</span>&#160;    poly_grid-&gt;SetPoints (points);</div>
<div class="line"><a name="l01703"></a><span class="lineno"> 1703</span>&#160;    <span class="keywordflow">if</span> (colors)</div>
<div class="line"><a name="l01704"></a><span class="lineno"> 1704</span>&#160;      poly_grid-&gt;GetPointData ()-&gt;SetScalars (colors);</div>
<div class="line"><a name="l01705"></a><span class="lineno"> 1705</span>&#160; </div>
<div class="line"><a name="l01706"></a><span class="lineno"> 1706</span>&#160;    createActorFromVTKDataSet (poly_grid, actor, <span class="keyword">false</span>);</div>
<div class="line"><a name="l01707"></a><span class="lineno"> 1707</span>&#160;  }</div>
<div class="line"><a name="l01708"></a><span class="lineno"> 1708</span>&#160;  addActorToRenderer (actor, viewport);</div>
<div class="line"><a name="l01709"></a><span class="lineno"> 1709</span>&#160;  actor-&gt;GetProperty ()-&gt;SetRepresentationToSurface ();</div>
<div class="line"><a name="l01710"></a><span class="lineno"> 1710</span>&#160;  <span class="comment">// Backface culling renders the visualization slower, but guarantees that we see all triangles</span></div>
<div class="line"><a name="l01711"></a><span class="lineno"> 1711</span>&#160;  actor-&gt;GetProperty ()-&gt;BackfaceCullingOff ();</div>
<div class="line"><a name="l01712"></a><span class="lineno"> 1712</span>&#160;  actor-&gt;GetProperty ()-&gt;SetInterpolationToFlat ();</div>
<div class="line"><a name="l01713"></a><span class="lineno"> 1713</span>&#160;  actor-&gt;GetProperty ()-&gt;EdgeVisibilityOff ();</div>
<div class="line"><a name="l01714"></a><span class="lineno"> 1714</span>&#160;  actor-&gt;GetProperty ()-&gt;ShadingOff ();</div>
<div class="line"><a name="l01715"></a><span class="lineno"> 1715</span>&#160; </div>
<div class="line"><a name="l01716"></a><span class="lineno"> 1716</span>&#160;  <span class="comment">// Save the pointer/ID pair to the global actor map</span></div>
<div class="line"><a name="l01717"></a><span class="lineno"> 1717</span>&#160;  (*cloud_actor_map_)[id].actor = actor;</div>
<div class="line"><a name="l01718"></a><span class="lineno"> 1718</span>&#160; </div>
<div class="line"><a name="l01719"></a><span class="lineno"> 1719</span>&#160;  <span class="comment">// Save the viewpoint transformation matrix to the global actor map</span></div>
<div class="line"><a name="l01720"></a><span class="lineno"> 1720</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkMatrix4x4&gt;</a> transformation = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkMatrix4x4&gt;::New</a>();</div>
<div class="line"><a name="l01721"></a><span class="lineno"> 1721</span>&#160;  convertToVtkMatrix (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>, transformation);</div>
<div class="line"><a name="l01722"></a><span class="lineno"> 1722</span>&#160;  (*cloud_actor_map_)[id].viewpoint_transformation_ = transformation;</div>
<div class="line"><a name="l01723"></a><span class="lineno"> 1723</span>&#160; </div>
<div class="line"><a name="l01724"></a><span class="lineno"> 1724</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01725"></a><span class="lineno"> 1725</span>&#160;}</div>
<div class="line"><a name="l01726"></a><span class="lineno"> 1726</span>&#160; </div>
<div class="line"><a name="l01728"></a><span class="lineno"> 1728</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01729"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aae07d5848ec01103ec7c6a256d040463"> 1729</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aae07d5848ec01103ec7c6a256d040463">pcl::visualization::PCLVisualizer::updatePolygonMesh</a> (</div>
<div class="line"><a name="l01730"></a><span class="lineno"> 1730</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l01731"></a><span class="lineno"> 1731</span>&#160;    <span class="keyword">const</span> std::vector&lt;pcl::Vertices&gt; &amp;verts,</div>
<div class="line"><a name="l01732"></a><span class="lineno"> 1732</span>&#160;    <span class="keyword">const</span> std::string &amp;<span class="keywordtype">id</span>)</div>
<div class="line"><a name="l01733"></a><span class="lineno"> 1733</span>&#160;{</div>
<div class="line"><a name="l01734"></a><span class="lineno"> 1734</span>&#160;  <span class="keywordflow">if</span> (verts.empty ())</div>
<div class="line"><a name="l01735"></a><span class="lineno"> 1735</span>&#160;  {</div>
<div class="line"><a name="l01736"></a><span class="lineno"> 1736</span>&#160;     pcl::console::print_error (<span class="stringliteral">&quot;[addPolygonMesh] No vertices given!\n&quot;</span>);</div>
<div class="line"><a name="l01737"></a><span class="lineno"> 1737</span>&#160;     <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01738"></a><span class="lineno"> 1738</span>&#160;  }</div>
<div class="line"><a name="l01739"></a><span class="lineno"> 1739</span>&#160; </div>
<div class="line"><a name="l01740"></a><span class="lineno"> 1740</span>&#160;  <span class="comment">// Check to see if this ID entry already exists (has it been already added to the visualizer?)</span></div>
<div class="line"><a name="l01741"></a><span class="lineno"> 1741</span>&#160;  CloudActorMap::iterator am_it = cloud_actor_map_-&gt;find (<span class="keywordtype">id</span>);</div>
<div class="line"><a name="l01742"></a><span class="lineno"> 1742</span>&#160;  <span class="keywordflow">if</span> (am_it == cloud_actor_map_-&gt;end ())</div>
<div class="line"><a name="l01743"></a><span class="lineno"> 1743</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01744"></a><span class="lineno"> 1744</span>&#160; </div>
<div class="line"><a name="l01745"></a><span class="lineno"> 1745</span>&#160;  <span class="comment">// Get the current poly data</span></div>
<div class="line"><a name="l01746"></a><span class="lineno"> 1746</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata = <span class="keyword">static_cast&lt;</span>vtkPolyDataMapper*<span class="keyword">&gt;</span>(am_it-&gt;second.actor-&gt;GetMapper ())-&gt;GetInput ();</div>
<div class="line"><a name="l01747"></a><span class="lineno"> 1747</span>&#160;  <span class="keywordflow">if</span> (!polydata)</div>
<div class="line"><a name="l01748"></a><span class="lineno"> 1748</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01749"></a><span class="lineno"> 1749</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;</a> cells = polydata-&gt;GetPolys ();</div>
<div class="line"><a name="l01750"></a><span class="lineno"> 1750</span>&#160;  <span class="keywordflow">if</span> (!cells)</div>
<div class="line"><a name="l01751"></a><span class="lineno"> 1751</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01752"></a><span class="lineno"> 1752</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> points   = polydata-&gt;GetPoints ();</div>
<div class="line"><a name="l01753"></a><span class="lineno"> 1753</span>&#160;  <span class="comment">// Copy the new point array in</span></div>
<div class="line"><a name="l01754"></a><span class="lineno"> 1754</span>&#160;  vtkIdType nr_points = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l01755"></a><span class="lineno"> 1755</span>&#160;  points-&gt;SetNumberOfPoints (nr_points);</div>
<div class="line"><a name="l01756"></a><span class="lineno"> 1756</span>&#160; </div>
<div class="line"><a name="l01757"></a><span class="lineno"> 1757</span>&#160;  <span class="comment">// Get a pointer to the beginning of the data array</span></div>
<div class="line"><a name="l01758"></a><span class="lineno"> 1758</span>&#160;  <span class="keywordtype">float</span> *data = (<span class="keyword">static_cast&lt;</span>vtkFloatArray*<span class="keyword">&gt;</span> (points-&gt;GetData ()))-&gt;GetPointer (0);</div>
<div class="line"><a name="l01759"></a><span class="lineno"> 1759</span>&#160; </div>
<div class="line"><a name="l01760"></a><span class="lineno"> 1760</span>&#160;  <span class="keywordtype">int</span> ptr = 0;</div>
<div class="line"><a name="l01761"></a><span class="lineno"> 1761</span>&#160;  std::vector&lt;int&gt; lookup;</div>
<div class="line"><a name="l01762"></a><span class="lineno"> 1762</span>&#160;  <span class="comment">// If the dataset is dense (no NaNs)</span></div>
<div class="line"><a name="l01763"></a><span class="lineno"> 1763</span>&#160;  <span class="keywordflow">if</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l01764"></a><span class="lineno"> 1764</span>&#160;  {</div>
<div class="line"><a name="l01765"></a><span class="lineno"> 1765</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i, ptr += 3)</div>
<div class="line"><a name="l01766"></a><span class="lineno"> 1766</span>&#160;      memcpy (&amp;data[ptr], &amp;cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, sizeof (<span class="keywordtype">float</span>) * 3);</div>
<div class="line"><a name="l01767"></a><span class="lineno"> 1767</span>&#160;  }</div>
<div class="line"><a name="l01768"></a><span class="lineno"> 1768</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01769"></a><span class="lineno"> 1769</span>&#160;  {</div>
<div class="line"><a name="l01770"></a><span class="lineno"> 1770</span>&#160;    lookup.resize (nr_points);</div>
<div class="line"><a name="l01771"></a><span class="lineno"> 1771</span>&#160;    vtkIdType j = 0;    <span class="comment">// true point index</span></div>
<div class="line"><a name="l01772"></a><span class="lineno"> 1772</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l01773"></a><span class="lineno"> 1773</span>&#160;    {</div>
<div class="line"><a name="l01774"></a><span class="lineno"> 1774</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l01775"></a><span class="lineno"> 1775</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]))</div>
<div class="line"><a name="l01776"></a><span class="lineno"> 1776</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01777"></a><span class="lineno"> 1777</span>&#160; </div>
<div class="line"><a name="l01778"></a><span class="lineno"> 1778</span>&#160;      lookup [i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (j);</div>
<div class="line"><a name="l01779"></a><span class="lineno"> 1779</span>&#160;      memcpy (&amp;data[ptr], &amp;cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, sizeof (<span class="keywordtype">float</span>) * 3);</div>
<div class="line"><a name="l01780"></a><span class="lineno"> 1780</span>&#160;      j++;</div>
<div class="line"><a name="l01781"></a><span class="lineno"> 1781</span>&#160;      ptr += 3;</div>
<div class="line"><a name="l01782"></a><span class="lineno"> 1782</span>&#160;    }</div>
<div class="line"><a name="l01783"></a><span class="lineno"> 1783</span>&#160;    nr_points = j;</div>
<div class="line"><a name="l01784"></a><span class="lineno"> 1784</span>&#160;    points-&gt;SetNumberOfPoints (nr_points);</div>
<div class="line"><a name="l01785"></a><span class="lineno"> 1785</span>&#160;  }</div>
<div class="line"><a name="l01786"></a><span class="lineno"> 1786</span>&#160; </div>
<div class="line"><a name="l01787"></a><span class="lineno"> 1787</span>&#160;  <span class="comment">// Update colors</span></div>
<div class="line"><a name="l01788"></a><span class="lineno"> 1788</span>&#160;  vtkUnsignedCharArray* colors = vtkUnsignedCharArray::SafeDownCast (polydata-&gt;GetPointData ()-&gt;GetScalars ());</div>
<div class="line"><a name="l01789"></a><span class="lineno"> 1789</span>&#160;  <span class="keywordflow">if</span> (!colors)</div>
<div class="line"><a name="l01790"></a><span class="lineno"> 1790</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01791"></a><span class="lineno"> 1791</span>&#160;  <span class="keywordtype">int</span> rgb_idx = -1;</div>
<div class="line"><a name="l01792"></a><span class="lineno"> 1792</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l01793"></a><span class="lineno"> 1793</span>&#160;  rgb_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgb&quot;</span>, fields);</div>
<div class="line"><a name="l01794"></a><span class="lineno"> 1794</span>&#160;  <span class="keywordflow">if</span> (rgb_idx == -1)</div>
<div class="line"><a name="l01795"></a><span class="lineno"> 1795</span>&#160;    rgb_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgba&quot;</span>, fields);</div>
<div class="line"><a name="l01796"></a><span class="lineno"> 1796</span>&#160;  <span class="keywordflow">if</span> (rgb_idx != -1 &amp;&amp; colors)</div>
<div class="line"><a name="l01797"></a><span class="lineno"> 1797</span>&#160;  {</div>
<div class="line"><a name="l01798"></a><span class="lineno"> 1798</span>&#160;    <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> rgb_data;</div>
<div class="line"><a name="l01799"></a><span class="lineno"> 1799</span>&#160;    <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l01800"></a><span class="lineno"> 1800</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud-&gt;size (); ++i)</div>
<div class="line"><a name="l01801"></a><span class="lineno"> 1801</span>&#160;    {</div>
<div class="line"><a name="l01802"></a><span class="lineno"> 1802</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]))</div>
<div class="line"><a name="l01803"></a><span class="lineno"> 1803</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01804"></a><span class="lineno"> 1804</span>&#160;      memcpy (&amp;rgb_data, </div>
<div class="line"><a name="l01805"></a><span class="lineno"> 1805</span>&#160;              <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]) + fields[rgb_idx].offset,</div>
<div class="line"><a name="l01806"></a><span class="lineno"> 1806</span>&#160;              sizeof (<a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>));</div>
<div class="line"><a name="l01807"></a><span class="lineno"> 1807</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> color[3];</div>
<div class="line"><a name="l01808"></a><span class="lineno"> 1808</span>&#160;      color[0] = rgb_data.r;</div>
<div class="line"><a name="l01809"></a><span class="lineno"> 1809</span>&#160;      color[1] = rgb_data.g;</div>
<div class="line"><a name="l01810"></a><span class="lineno"> 1810</span>&#160;      color[2] = rgb_data.b;</div>
<div class="line"><a name="l01811"></a><span class="lineno"> 1811</span>&#160;      colors-&gt;SetTupleValue (j++, color);</div>
<div class="line"><a name="l01812"></a><span class="lineno"> 1812</span>&#160;    }</div>
<div class="line"><a name="l01813"></a><span class="lineno"> 1813</span>&#160;  }</div>
<div class="line"><a name="l01814"></a><span class="lineno"> 1814</span>&#160; </div>
<div class="line"><a name="l01815"></a><span class="lineno"> 1815</span>&#160;  <span class="comment">// Get the maximum size of a polygon</span></div>
<div class="line"><a name="l01816"></a><span class="lineno"> 1816</span>&#160;  <span class="keywordtype">int</span> max_size_of_polygon = -1;</div>
<div class="line"><a name="l01817"></a><span class="lineno"> 1817</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; verts.size (); ++i)</div>
<div class="line"><a name="l01818"></a><span class="lineno"> 1818</span>&#160;    <span class="keywordflow">if</span> (max_size_of_polygon &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (verts[i].vertices.size ()))</div>
<div class="line"><a name="l01819"></a><span class="lineno"> 1819</span>&#160;      max_size_of_polygon = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (verts[i].vertices.size ());</div>
<div class="line"><a name="l01820"></a><span class="lineno"> 1820</span>&#160; </div>
<div class="line"><a name="l01821"></a><span class="lineno"> 1821</span>&#160;  <span class="comment">// Update the cells</span></div>
<div class="line"><a name="l01822"></a><span class="lineno"> 1822</span>&#160;  cells = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkCellArray&gt;::New</a> ();</div>
<div class="line"><a name="l01823"></a><span class="lineno"> 1823</span>&#160;  vtkIdType *cell = cells-&gt;WritePointer (verts.size (), verts.size () * (max_size_of_polygon + 1));</div>
<div class="line"><a name="l01824"></a><span class="lineno"> 1824</span>&#160;  <span class="keywordtype">int</span> idx = 0;</div>
<div class="line"><a name="l01825"></a><span class="lineno"> 1825</span>&#160;  <span class="keywordflow">if</span> (lookup.size () &gt; 0)</div>
<div class="line"><a name="l01826"></a><span class="lineno"> 1826</span>&#160;  {</div>
<div class="line"><a name="l01827"></a><span class="lineno"> 1827</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; verts.size (); ++i, ++idx)</div>
<div class="line"><a name="l01828"></a><span class="lineno"> 1828</span>&#160;    {</div>
<div class="line"><a name="l01829"></a><span class="lineno"> 1829</span>&#160;      <span class="keywordtype">size_t</span> n_points = verts[i].vertices.size ();</div>
<div class="line"><a name="l01830"></a><span class="lineno"> 1830</span>&#160;      *cell++ = n_points;</div>
<div class="line"><a name="l01831"></a><span class="lineno"> 1831</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; n_points; j++, cell++, ++idx)</div>
<div class="line"><a name="l01832"></a><span class="lineno"> 1832</span>&#160;        *cell = lookup[verts[i].vertices[j]];</div>
<div class="line"><a name="l01833"></a><span class="lineno"> 1833</span>&#160;    }</div>
<div class="line"><a name="l01834"></a><span class="lineno"> 1834</span>&#160;  }</div>
<div class="line"><a name="l01835"></a><span class="lineno"> 1835</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01836"></a><span class="lineno"> 1836</span>&#160;  {</div>
<div class="line"><a name="l01837"></a><span class="lineno"> 1837</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; verts.size (); ++i, ++idx)</div>
<div class="line"><a name="l01838"></a><span class="lineno"> 1838</span>&#160;    {</div>
<div class="line"><a name="l01839"></a><span class="lineno"> 1839</span>&#160;      <span class="keywordtype">size_t</span> n_points = verts[i].vertices.size ();</div>
<div class="line"><a name="l01840"></a><span class="lineno"> 1840</span>&#160;      *cell++ = n_points;</div>
<div class="line"><a name="l01841"></a><span class="lineno"> 1841</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; n_points; j++, cell++, ++idx)</div>
<div class="line"><a name="l01842"></a><span class="lineno"> 1842</span>&#160;        *cell = verts[i].vertices[j];</div>
<div class="line"><a name="l01843"></a><span class="lineno"> 1843</span>&#160;    }</div>
<div class="line"><a name="l01844"></a><span class="lineno"> 1844</span>&#160;  }</div>
<div class="line"><a name="l01845"></a><span class="lineno"> 1845</span>&#160;  cells-&gt;GetData ()-&gt;SetNumberOfValues (idx);</div>
<div class="line"><a name="l01846"></a><span class="lineno"> 1846</span>&#160;  cells-&gt;Squeeze ();</div>
<div class="line"><a name="l01847"></a><span class="lineno"> 1847</span>&#160;  <span class="comment">// Set the the vertices</span></div>
<div class="line"><a name="l01848"></a><span class="lineno"> 1848</span>&#160;  polydata-&gt;SetPolys (cells);</div>
<div class="line"><a name="l01849"></a><span class="lineno"> 1849</span>&#160; </div>
<div class="line"><a name="l01850"></a><span class="lineno"> 1850</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01851"></a><span class="lineno"> 1851</span>&#160;}</div>
<div class="line"><a name="l01852"></a><span class="lineno"> 1852</span>&#160; </div>
<div class="line"><a name="l01853"></a><span class="lineno"> 1853</span>&#160;<span class="preprocessor">#ifdef vtkGenericDataArray_h</span></div>
<div class="line"><a name="l01854"></a><span class="lineno"> 1854</span>&#160;<span class="preprocessor">#undef SetTupleValue</span></div>
<div class="line"><a name="l01855"></a><span class="lineno"> 1855</span>&#160;<span class="preprocessor">#undef InsertNextTupleValue</span></div>
<div class="line"><a name="l01856"></a><span class="lineno"> 1856</span>&#160;<span class="preprocessor">#undef GetTupleValue</span></div>
<div class="line"><a name="l01857"></a><span class="lineno"> 1857</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l01858"></a><span class="lineno"> 1858</span>&#160; </div>
<div class="line"><a name="l01859"></a><span class="lineno"> 1859</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_planar_polygon_html"><div class="ttname"><a href="classpcl_1_1_planar_polygon.html">pcl::PlanarPolygon</a></div><div class="ttdoc">PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.</div><div class="ttdef"><b>Definition:</b> planar_polygon.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a914dbcef25abdb46f32991ac112002e7"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">pcl::PointCloud::isOrganized</a></div><div class="ttdeci">bool isOrganized() const</div><div class="ttdoc">Return whether a dataset is organized (e.g., arranged in a structured grid).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:331</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_cloud_actor_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_cloud_actor.html">pcl::visualization::CloudActor</a></div><div class="ttdef"><b>Definition:</b> actor_map.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_cloud_actor_html_a02ce09516be42f3dfcc8eb3aab53efed"><div class="ttname"><a href="classpcl_1_1visualization_1_1_cloud_actor.html#a02ce09516be42f3dfcc8eb3aab53efed">pcl::visualization::CloudActor::actor</a></div><div class="ttdeci">vtkSmartPointer&lt; vtkLODActor &gt; actor</div><div class="ttdoc">The actor holding the data to render.</div><div class="ttdef"><b>Definition:</b> actor_map.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_cloud_actor_html_a33d714fdd11d28989b2fbb00b45b7ee2"><div class="ttname"><a href="classpcl_1_1visualization_1_1_cloud_actor.html#a33d714fdd11d28989b2fbb00b45b7ee2">pcl::visualization::CloudActor::cells</a></div><div class="ttdeci">vtkSmartPointer&lt; vtkIdTypeArray &gt; cells</div><div class="ttdoc">Internal cell array. Used for optimizing updatePointCloud.</div><div class="ttdef"><b>Definition:</b> actor_map.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_cloud_actor_html_a3f9bed3002a8fe0541b70f2572fcbfae"><div class="ttname"><a href="classpcl_1_1visualization_1_1_cloud_actor.html#a3f9bed3002a8fe0541b70f2572fcbfae">pcl::visualization::CloudActor::color_handlers</a></div><div class="ttdeci">std::vector&lt; ColorHandlerConstPtr &gt; color_handlers</div><div class="ttdoc">A vector of color handlers that can be used for rendering the data.</div><div class="ttdef"><b>Definition:</b> actor_map.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_cloud_actor_html_a8b14e3236e2777e639785a6020392061"><div class="ttname"><a href="classpcl_1_1visualization_1_1_cloud_actor.html#a8b14e3236e2777e639785a6020392061">pcl::visualization::CloudActor::viewpoint_transformation_</a></div><div class="ttdeci">vtkSmartPointer&lt; vtkMatrix4x4 &gt; viewpoint_transformation_</div><div class="ttdoc">The viewpoint transformation matrix.</div><div class="ttdef"><b>Definition:</b> actor_map.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_cloud_actor_html_ab1628e864bd8342f90c5cbb7ce5b3618"><div class="ttname"><a href="classpcl_1_1visualization_1_1_cloud_actor.html#ab1628e864bd8342f90c5cbb7ce5b3618">pcl::visualization::CloudActor::geometry_handlers</a></div><div class="ttdeci">std::vector&lt; GeometryHandlerConstPtr &gt; geometry_handlers</div><div class="ttdoc">A vector of geometry handlers that can be used for rendering the data.</div><div class="ttdef"><b>Definition:</b> actor_map.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a0051e22d9a1503933842510b3fc31467"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a0051e22d9a1503933842510b3fc31467">pcl::visualization::PCLVisualizer::addPointCloudIntensityGradients</a></div><div class="ttdeci">bool addPointCloudIntensityGradients(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud, const typename pcl::PointCloud&lt; GradientT &gt;::ConstPtr &amp;gradients, int level=100, double scale=1e-6, const std::string &amp;id=&quot;cloud&quot;, int viewport=0)</div><div class="ttdoc">Add the estimated surface intensity gradients of a Point Cloud to screen.</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:974</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a04b488bead8ef944b22690be9f768e24"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a04b488bead8ef944b22690be9f768e24">pcl::visualization::PCLVisualizer::addPolygonMesh</a></div><div class="ttdeci">bool addPolygonMesh(const pcl::PolygonMesh &amp;polymesh, const std::string &amp;id=&quot;polygon&quot;, int viewport=0)</div><div class="ttdoc">Add a PolygonMesh object to screen</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a19fb5e883c70c32e1486e924469217f3"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a19fb5e883c70c32e1486e924469217f3">pcl::visualization::PCLVisualizer::addSphere</a></div><div class="ttdeci">bool addSphere(const PointT &amp;center, double radius, const std::string &amp;id=&quot;sphere&quot;, int viewport=0)</div><div class="ttdoc">Add a sphere shape from a point and a radius</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:616</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a36dbb0c4490a8de4838503dc257ba26a"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">pcl::visualization::PCLVisualizer::addPointCloud</a></div><div class="ttdeci">bool addPointCloud(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud, const std::string &amp;id=&quot;cloud&quot;, int viewport=0)</div><div class="ttdoc">Add a Point Cloud (templated) to screen.</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a3c20fdb241ea003aff44e9d22c665acc"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a3c20fdb241ea003aff44e9d22c665acc">pcl::visualization::PCLVisualizer::addCorrespondences</a></div><div class="ttdeci">bool addCorrespondences(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;source_points, const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;target_points, const std::vector&lt; int &gt; &amp;correspondences, const std::string &amp;id=&quot;correspondences&quot;, int viewport=0)</div><div class="ttdoc">Add the specified correspondences to the display.</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:1050</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a53bdfc5812684721a5f47ff7da42f5c8"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a53bdfc5812684721a5f47ff7da42f5c8">pcl::visualization::PCLVisualizer::addPolygon</a></div><div class="ttdeci">bool addPolygon(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud, double r, double g, double b, const std::string &amp;id=&quot;polygon&quot;, int viewport=0)</div><div class="ttdoc">Add a polygon (polyline) that represents the input point cloud (connects all points in order)</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:313</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a596ed7f68d3a48b0c16ff0e3141e2a59"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a596ed7f68d3a48b0c16ff0e3141e2a59">pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData</a></div><div class="ttdeci">void convertPointCloudToVTKPolyData(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud, vtkSmartPointer&lt; vtkPolyData &gt; &amp;polydata, vtkSmartPointer&lt; vtkIdTypeArray &gt; &amp;initcells)</div><div class="ttdoc">Converts a PCL templated PointCloud object to a vtk polydata object.</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:215</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a629dbb72b085fa25d382fa982eaefa64"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a629dbb72b085fa25d382fa982eaefa64">pcl::visualization::PCLVisualizer::updatePointCloud</a></div><div class="ttdeci">bool updatePointCloud(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud, const std::string &amp;id=&quot;cloud&quot;)</div><div class="ttdoc">Updates the XYZ data for an existing cloud object id on screen.</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:1412</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a749041b9375495588a3e0406e3afec1f"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a749041b9375495588a3e0406e3afec1f">pcl::visualization::PCLVisualizer::fromHandlersToScreen</a></div><div class="ttdeci">bool fromHandlersToScreen(const PointCloudGeometryHandler&lt; PointT &gt; &amp;geometry_handler, const PointCloudColorHandler&lt; PointT &gt; &amp;color_handler, const std::string &amp;id, int viewport, const Eigen::Vector4f &amp;sensor_origin=Eigen::Vector4f(0, 0, 0, 0), const Eigen::Quaternion&lt; float &gt; &amp;sensor_orientation=Eigen::Quaternion&lt; float &gt;(1, 0, 0, 0))</div><div class="ttdoc">Internal function which converts the information present in the geometric and color handlers into VTK...</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:1221</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a7b40078a75aba7f01826013ee27e4484"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a7b40078a75aba7f01826013ee27e4484">pcl::visualization::PCLVisualizer::addPointCloudNormals</a></div><div class="ttdeci">bool addPointCloudNormals(const typename pcl::PointCloud&lt; PointNT &gt;::ConstPtr &amp;cloud, int level=100, float scale=0.02f, const std::string &amp;id=&quot;cloud&quot;, int viewport=0)</div><div class="ttdoc">Add the estimated surface normals of a Point Cloud to screen.</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:720</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a81eef75fbd6f48f851c5847b75e1f59c"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a81eef75fbd6f48f851c5847b75e1f59c">pcl::visualization::PCLVisualizer::addText3D</a></div><div class="ttdeci">bool addText3D(const std::string &amp;text, const PointT &amp;position, double textScale=1.0, double r=1.0, double g=1.0, double b=1.0, const std::string &amp;id=&quot;&quot;, int viewport=0)</div><div class="ttdoc">Add a 3d text to the scene</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:656</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a8562fd9611c985f3dfcca9acce8a5050"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a8562fd9611c985f3dfcca9acce8a5050">pcl::visualization::PCLVisualizer::updateSphere</a></div><div class="ttdeci">bool updateSphere(const PointT &amp;center, double radius, double r, double g, double b, const std::string &amp;id=&quot;sphere&quot;)</div><div class="ttdoc">Update an existing sphere shape from a point and a radius</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:623</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a90e704438b073458d7b1d6ebe54a9c2d"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a90e704438b073458d7b1d6ebe54a9c2d">pcl::visualization::PCLVisualizer::addArrow</a></div><div class="ttdeci">bool addArrow(const P1 &amp;pt1, const P2 &amp;pt2, double r, double g, double b, const std::string &amp;id=&quot;arrow&quot;, int viewport=0)</div><div class="ttdoc">Add a line arrow segment between two points, and display the distance between them</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:480</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_aa788c98f62fbf379abfc3b03550ecab5"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aa788c98f62fbf379abfc3b03550ecab5">pcl::visualization::PCLVisualizer::addLine</a></div><div class="ttdeci">bool addLine(const P1 &amp;pt1, const P2 &amp;pt2, const std::string &amp;id=&quot;line&quot;, int viewport=0)</div><div class="ttdoc">Add a line segment from two points</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:569</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_aaa72b633862a7de6a882a9903796a2a0"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aaa72b633862a7de6a882a9903796a2a0">pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures</a></div><div class="ttdeci">bool addPointCloudPrincipalCurvatures(const typename pcl::PointCloud&lt; PointNT &gt;::ConstPtr &amp;cloud, const typename pcl::PointCloud&lt; pcl::PrincipalCurvatures &gt;::ConstPtr &amp;pcs, int level=100, float scale=1.0f, const std::string &amp;id=&quot;cloud&quot;, int viewport=0)</div><div class="ttdoc">Add the estimated principal curvatures of a Point Cloud to screen.</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_aae07d5848ec01103ec7c6a256d040463"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aae07d5848ec01103ec7c6a256d040463">pcl::visualization::PCLVisualizer::updatePolygonMesh</a></div><div class="ttdeci">bool updatePolygonMesh(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud, const std::vector&lt; pcl::Vertices &gt; &amp;vertices, const std::string &amp;id=&quot;polygon&quot;)</div><div class="ttdoc">Update a PolygonMesh object on screen</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:1729</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_af6522961411e6db8f000279392dfae35"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#af6522961411e6db8f000279392dfae35">pcl::visualization::PCLVisualizer::updateCorrespondences</a></div><div class="ttdeci">bool updateCorrespondences(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;source_points, const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;target_points, const pcl::Correspondences &amp;correspondences, int nth, const std::string &amp;id=&quot;correspondences&quot;, int viewport=0)</div><div class="ttdoc">Update the specified correspondences to the display.</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:1208</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_custom_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_custom.html">pcl::visualization::PointCloudColorHandlerCustom</a></div><div class="ttdoc">Handler for predefined user colors. The color at each point will be drawn as the use given R,...</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">pcl::visualization::PointCloudColorHandler</a></div><div class="ttdoc">Base Handler class for PointCloud colors.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_a788257a9e86e041c78a8f8e3250eec7a"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a788257a9e86e041c78a8f8e3250eec7a">pcl::visualization::PointCloudColorHandler::getColor</a></div><div class="ttdeci">virtual bool getColor(vtkSmartPointer&lt; vtkDataArray &gt; &amp;scalars) const =0</div><div class="ttdoc">Obtain the actual color for the input dataset as vtk scalars.</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_a78d414ffb3e0c6c269cac031c1cba218"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a78d414ffb3e0c6c269cac031c1cba218">pcl::visualization::PointCloudColorHandler::isCapable</a></div><div class="ttdeci">bool isCapable() const</div><div class="ttdoc">Check if this handler is capable of handling the input data or not.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_ab81a957a705ca04e781bda20fafa414c"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#ab81a957a705ca04e781bda20fafa414c">pcl::visualization::PointCloudColorHandler::getName</a></div><div class="ttdeci">virtual std::string getName() const =0</div><div class="ttdoc">Abstract getName method.</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html">pcl::visualization::PointCloudColorHandlerRGBField</a></div><div class="ttdoc">RGB handler class for colors. Uses the data present in the &quot;rgb&quot; or &quot;rgba&quot; fields as the color at eac...</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:258</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">pcl::visualization::PointCloudGeometryHandler</a></div><div class="ttdoc">Base handler class for PointCloud geometry.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html_a2df06549787f8004cbb781d8520a26db"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a2df06549787f8004cbb781d8520a26db">pcl::visualization::PointCloudGeometryHandler::getName</a></div><div class="ttdeci">virtual std::string getName() const =0</div><div class="ttdoc">Abstract getName method.</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html_a34cd0256912c4365b55ca95237963ba7"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a34cd0256912c4365b55ca95237963ba7">pcl::visualization::PointCloudGeometryHandler::isCapable</a></div><div class="ttdeci">bool isCapable() const</div><div class="ttdoc">Checl if this handler is capable of handling the input data or not.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html_aae103bd083273e1826b51743e6ae8123"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aae103bd083273e1826b51743e6ae8123">pcl::visualization::PointCloudGeometryHandler::getGeometry</a></div><div class="ttdeci">virtual void getGeometry(vtkSmartPointer&lt; vtkPoints &gt; &amp;points) const =0</div><div class="ttdoc">Obtain the actual point geometry for the input dataset in VTK format.</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html">pcl::visualization::PointCloudGeometryHandlerXYZ</a></div><div class="ttdoc">XYZ handler class for PointCloud geometry. Given an input dataset, all XYZ data present in fields &quot;x&quot;...</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:140</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer&lt; vtkPolyData &gt;</a></div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="ashapes_8h_html"><div class="ttname"><a href="shapes_8h.html">shapes.h</a></div></div>
<div class="ttc" id="ashapes_8h_html_abb746d0348192ce0950dc7adf19052f4"><div class="ttname"><a href="shapes_8h.html#abb746d0348192ce0950dc7adf19052f4">pcl::visualization::createLine</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createLine(const Eigen::Vector4f &amp;pt1, const Eigen::Vector4f &amp;pt2)</div><div class="ttdoc">Create a line shape from two points</div></div>
<div class="ttc" id="ashapes_8h_html_aeabaade9c81f6faf7e6d0be905df8f6e"><div class="ttname"><a href="shapes_8h.html#aeabaade9c81f6faf7e6d0be905df8f6e">pcl::visualization::allocVtkUnstructuredGrid</a></div><div class="ttdeci">PCL_EXPORTS void allocVtkUnstructuredGrid(vtkSmartPointer&lt; vtkUnstructuredGrid &gt; &amp;polydata)</div><div class="ttdoc">Allocate a new unstructured grid smartpointer. For internal use only.</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
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